The invention discloses an obstacle detection method and system, computer equipment and a storage medium. The method comprises steps of dividing a target parking space into a plurality of cells so as to create a grid map; in the parking process, whether an obstacle exists in the parking path or not being continuously detected; if yes, the probability value of the cell where the detected obstacle is located being increased by a first numerical value, and the probability value from the ultrasonic detection device to the cell where the obstacle passes being decreased by a second numerical value until the vehicle currently meets a preset stop condition; screening out cells with probability values exceeding a probability threshold in the grid map, and performing clustering grouping; and selecting the cells of which the probability values meet a set condition from the clustering groups as the final positions of the corresponding obstacles. According to the method, the position of the automobile anti-collision column can be accurately detected in the mode that the grid map is fused with the multiple frames of ultrasonic information, false detection is eliminated, the automobile use experience of a driver is enhanced, and the method is suitable for large-scale application and popularization.

    本发明公开了一种障碍物检测方法、检测系统、计算机设备和存储介质,其中方法包括:将目标车位划分为若干个单元格,以创建栅格地图;在泊车的过程中,开始持续检测泊车路径中是否存在障碍物;若是,则将检测到的障碍物所在的单元格的概率值增加第一数值,并将从超声波检测装置到障碍物所经过的单元格的概率值减少第二数值,直至车辆当前满足预设停止条件;将栅格地图中概率值超过概率阈值的单元格筛选出来,进行聚类分组;从聚类分组中选择概率值符合设定条件的单元格作为对应障碍物的最终所在位置。本发明通过栅格地图融合多帧超声波信息的方式,能对汽车防撞柱的位置进行准确检测,并消除误检测,增强了驾驶员的用车体验,适于大范围推广应用。


    Access

    Download


    Export, share and cite



    Title :

    Obstacle detection method and system, computer equipment and storage medium


    Additional title:

    一种障碍物检测方法、检测系统、计算机设备和存储介质


    Contributors:
    QIN HAN (author) / CHEN SHENGJUN (author) / JIANG SHAOFENG (author) / ZHANG HONG (author) / FENG KAI (author)

    Publication date :

    2021-04-13


    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 bypassing method and system, computer equipment and storage medium

    HUANG ZHEN | European Patent Office | 2023

    Free access


    Obstacle recognition method and device, computer equipment and storage medium

    YUE YANG / LIU GUANGYUAN | European Patent Office | 2024

    Free access

    Vehicle obstacle avoidance collision detection method and device, computer equipment and storage medium

    PENG SHUAI / LI XIAOGANG / ZOU XIN et al. | European Patent Office | 2024

    Free access