CN112789521A - 感知区域的确定方法、装置、存储介质及车辆 - Google Patents

感知区域的确定方法、装置、存储介质及车辆 Download PDF

Info

Publication number
CN112789521A
CN112789521A CN202080005490.8A CN202080005490A CN112789521A CN 112789521 A CN112789521 A CN 112789521A CN 202080005490 A CN202080005490 A CN 202080005490A CN 112789521 A CN112789521 A CN 112789521A
Authority
CN
China
Prior art keywords
area
region
point cloud
travelable
travelable region
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.)
Granted
Application number
CN202080005490.8A
Other languages
English (en)
Other versions
CN112789521B (zh
Inventor
牟加俊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suteng Innovation Technology Co Ltd
Original Assignee
Suteng Innovation Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suteng Innovation Technology Co Ltd filed Critical Suteng Innovation Technology Co Ltd
Publication of CN112789521A publication Critical patent/CN112789521A/zh
Application granted granted Critical
Publication of CN112789521B publication Critical patent/CN112789521B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种感知区域的确定方法、装置、存储介质及车辆，属于自动驾驶领域。方法包括：获取点云采集装置采集的点云(S201)，根据点云构建可行驶区域(S202)，根据可行驶区域的范围调整感知区域的范围(S203)，感知区域的面积大于可行驶区域的面积，实现根据可行驶区域的大小自适应的调整感知区域的大小，便于对点云中的关键的采样点进行计算，减少环境感知的运算量。

Description

PCT国内申请，说明书已公开。

Claims (11)

  1. PCT国内申请，权利要求书已公开。
CN202080005490.8A 2020-01-22 2020-01-22 感知区域的确定方法、装置、存储介质及车辆 Active CN112789521B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/073693 WO2021051736A1 (zh) 2020-01-22 2020-01-22 感知区域的确定方法、装置、存储介质及车辆

Publications (2)

Publication Number Publication Date
CN112789521A true CN112789521A (zh) 2021-05-11
CN112789521B CN112789521B (zh) 2024-04-26

Family

ID=74883418

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080005490.8A Active CN112789521B (zh) 2020-01-22 2020-01-22 感知区域的确定方法、装置、存储介质及车辆

Country Status (2)

Country Link
CN (1) CN112789521B (zh)
WO (1) WO2021051736A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113552574A (zh) * 2021-07-13 2021-10-26 上海欧菲智能车联科技有限公司 一种区域探测方法、装置、存储介质及电子设备
CN113625243A (zh) * 2021-07-28 2021-11-09 山东浪潮科学研究院有限公司 恶劣天气下提高激光雷达图像信噪比的方法及装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI786765B (zh) * 2021-08-11 2022-12-11 中華電信股份有限公司 自適應配置雷達參數的雷達和方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108169729A (zh) * 2018-01-17 2018-06-15 上海禾赛光电科技有限公司 激光雷达的视场的调整方法、介质、激光雷达系统
CN108427124A (zh) * 2018-02-02 2018-08-21 北京智行者科技有限公司 一种多线激光雷达地面点分离方法及装置、车辆
CN109061606A (zh) * 2018-09-19 2018-12-21 深圳市速腾聚创科技有限公司 智能感知激光雷达系统及智能感知激光雷达控制方法
US20190056748A1 (en) * 2017-08-18 2019-02-21 Wipro Limited Method, System, and Device for Guiding Autonomous Vehicles Based on Dynamic Extraction of Road Region
US20190171212A1 (en) * 2017-11-24 2019-06-06 Baidu Online Network Technology (Beijing) Co., Ltd Method and apparatus for outputting information of autonomous vehicle
CN110244321A (zh) * 2019-04-22 2019-09-17 武汉理工大学 一种基于三维激光雷达的道路可通行区域检测方法
CN110275167A (zh) * 2019-06-03 2019-09-24 浙江吉利控股集团有限公司 一种雷达探测的控制方法、控制器及终端

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3118834B1 (en) * 2015-07-13 2019-07-03 Volvo Car Corporation Lane change control arrangement, a vehicle comprising such arrangement and a method for controlling lane changes
CN107632296A (zh) * 2017-09-08 2018-01-26 深圳市速腾聚创科技有限公司 激光雷达控制方法及激光雷达

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190056748A1 (en) * 2017-08-18 2019-02-21 Wipro Limited Method, System, and Device for Guiding Autonomous Vehicles Based on Dynamic Extraction of Road Region
US20190171212A1 (en) * 2017-11-24 2019-06-06 Baidu Online Network Technology (Beijing) Co., Ltd Method and apparatus for outputting information of autonomous vehicle
CN108169729A (zh) * 2018-01-17 2018-06-15 上海禾赛光电科技有限公司 激光雷达的视场的调整方法、介质、激光雷达系统
CN108427124A (zh) * 2018-02-02 2018-08-21 北京智行者科技有限公司 一种多线激光雷达地面点分离方法及装置、车辆
CN109061606A (zh) * 2018-09-19 2018-12-21 深圳市速腾聚创科技有限公司 智能感知激光雷达系统及智能感知激光雷达控制方法
CN110244321A (zh) * 2019-04-22 2019-09-17 武汉理工大学 一种基于三维激光雷达的道路可通行区域检测方法
CN110275167A (zh) * 2019-06-03 2019-09-24 浙江吉利控股集团有限公司 一种雷达探测的控制方法、控制器及终端

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113552574A (zh) * 2021-07-13 2021-10-26 上海欧菲智能车联科技有限公司 一种区域探测方法、装置、存储介质及电子设备
CN113625243A (zh) * 2021-07-28 2021-11-09 山东浪潮科学研究院有限公司 恶劣天气下提高激光雷达图像信噪比的方法及装置

Also Published As

Publication number Publication date
CN112789521B (zh) 2024-04-26
WO2021051736A1 (zh) 2021-03-25

Similar Documents

Publication Publication Date Title
JP6441993B2 (ja) レーザー点クラウドを用いる物体検出のための方法及びシステム
CN102248947B (zh) 使用3-d激光测距仪的目标和车辆检测及跟踪
US20180188733A1 (en) Multi-channel sensor simulation for autonomous control systems
CN112789521B (zh) 感知区域的确定方法、装置、存储介质及车辆
CN108509820B (zh) 障碍物分割方法及装置、计算机设备及可读介质
US10872228B1 (en) Three-dimensional object detection
CN110674705B (zh) 基于多线激光雷达的小型障碍物检测方法及装置
CN111932943B (zh) 动态目标的检测方法、装置、存储介质及路基监测设备
EP4033324B1 (en) Obstacle information sensing method and device for mobile robot
CN111257882B (zh) 数据融合方法、装置、无人驾驶设备和可读存储介质
CN115406457A (zh) 一种可行驶区域检测方法、系统、设备及存储介质
CN110554409B (zh) 一种凹障碍物检测方法及系统
CN114820657A (zh) 地面点云分割方法、系统、地面建模方法及介质
CN113734176A (zh) 智能驾驶车辆的环境感知系统、方法、车辆及存储介质
CN112558035B (zh) 用于估计地面的方法和装置
US11747454B2 (en) Granularity-flexible existence-based object detection
CN111912418A (zh) 删除移动载体不可行驶区域内障碍物的方法、装置及介质
CN112651405B (zh) 目标检测方法及装置
CN113763308B (zh) 一种地面检测方法、装置、服务器及介质
CN112286178B (zh) 识别系统、车辆控制系统、识别方法及存储介质
CN113421306A (zh) 定位初始化方法、系统及移动工具
CN111542828A (zh) 线状物识别方法及装置、系统和计算机存储介质
WO2024042607A1 (ja) 外界認識装置及び外界認識方法
CN117690133A (zh) 点云数据标注方法、装置、电子设备、车辆及介质
CN117115247A (zh) 对象位姿识别方法、装置、计算机设备和存储介质

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
GR01 Patent grant
GR01 Patent grant