The invention relates to automobile intelligent driving, in particular to a passable area detection method and device, electronic equipment and a storage medium. According to the distance between the passable space data detected by each sensor and the vehicle and the distribution condition of the passable space data, the passable space data is projected to the target grids with different resolutions. According to the invention, passable spatial data of different distances can be distributed to grids with different resolutions, and passable spatial data of a short distance can be projected to a target grid with a higher resolution, so that finer detection of obstacles of a short distance can be realized. Then, analyzing the confidence coefficient of the target grid by using the passable spatial data in the target grid; and finally, fusing the passable space data in the target grid based on the confidence coefficient to obtain a passable area in the current environment of the vehicle. Therefore, the problem that the same resolution is adopted for the obstacles at different distances due to the consistency of the global grids is effectively avoided, and the precision of close-range obstacle detection is improved.

    本发明涉及汽车智能驾驶,涉及一种可通行区域的检测方法、装置、电子设备及存储介质。本申请根据各个传感器检测的可通行空间数据与车辆之间的距离以及可通行空间数据的分布情况,将其投射至不同分辨率的目标网格。可使不同距离的可通行空间数据会被分配到不同分辨率网格中,近距离的可通行空间数据会被投射到较高分辨率的目标网格,从而能够实现对近距离障碍物的更精细检测。然后,利用目标网格中的可通行空间数据分析目标网格的置信度。最后,基于置信度对目标网格中的可通行空间数据进行融合,得到车辆当前所处环境内的可通行区域。以此有效避免了因全局栅格一致而对不同距离障碍物采用相同分辨率的问题,提高了对近距离障碍物检测的精度。


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    Titel :

    Passable area detection method and device, electronic equipment and storage medium


    Weitere Titelangaben:

    一种可通行区域的检测方法、装置、电子设备及存储介质


    Beteiligte:
    JIANG YUDI (Autor:in)

    Erscheinungsdatum :

    09.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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