The invention discloses an obstacle early warning method and device, equipment and a storage medium, and belongs to the technical field of vehicle recognition. The method comprises the steps of obtaining size parameters of a vehicle, and determining a profile curve of the vehicle based on the size parameters; acquiring the position of the vehicle and radar data acquired by an ultrasonic radar on the vehicle, and determining the position of an obstacle based on the position of the vehicle and the radar data; acquiring a camera picture acquired by image acquisition equipment on the vehicle, and determining a contour curve of the obstacle based on the camera picture and the position of the obstacle; acquiring driving data of the vehicle, and determining a driving track of the vehicle based on the driving data of the vehicle; determining a first distance between the vehicle and the obstacle based on the driving track of the vehicle, the contour curve of the obstacle and the contour curve of the vehicle; and if the first distance is smaller than the reference distance, performing early warning on the obstacle. In the driving process of the vehicle, obstacles located in and outside the field angle of the ultrasonic radar are detected, and the driving safety is improved.

    本申请公开了障碍物的预警方法、装置、设备及存储介质,属于车辆识别技术领域。方法包括:获取车辆的尺寸参数,基于尺寸参数,确定车辆的轮廓曲线;获取车辆的位置和车辆上的超声波雷达采集的雷达数据,基于车辆的位置和雷达数据确定障碍物的位置;获取车辆上的图像采集设备采集的摄像画面,基于摄像画面和障碍物的位置确定障碍物的轮廓曲线;获取车辆的行驶数据,基于车辆的行驶数据确定车辆的行驶轨迹;基于车辆的行驶轨迹、障碍物的轮廓曲线和车辆的轮廓曲线,确定车辆与障碍物的第一距离;基于第一距离小于参考距离,对障碍物进行预警。本申请在车辆的行驶过程中,对位于超声波雷达的视场角内和视场角外的障碍物进行探测,提高行车安全性。


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    Titel :

    Obstacle early warning method and device, equipment and storage medium


    Weitere Titelangaben:

    障碍物的预警方法、装置、设备及存储介质


    Beteiligte:
    NIE JUNXIA (Autor:in) / HE XIAOXUAN (Autor:in)

    Erscheinungsdatum :

    2023-10-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



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