The embodiment of the invention provides a method and device for determining the position of an obstacle and a vehicle. The method is applied to the vehicle, and the method comprises the steps: obtaining image data of the environment where the vehicle is located, and estimating whether there is an obstacle between adjacent parking spaces in the environment according to the image data; when it is estimated that the obstacle exists between the adjacent parking spaces, acquiring sound wave data for the environment, and verifying whether the obstacle exists or not according to the sound wave data; and when the obstacle exists, correcting the sound wave data according to the image data to obtain the position of the obstacle. According to the embodiment of the invention, whether the obstacle exists between the parking spaces is accurately judged, and the position of the obstacle existing between the parking spaces is accurately determined. Based on the determined accurate position of the obstacle, accurate priori knowledge can be provided for subsequent unmanned driving path planning, so that the unmanned driving safety is ensured.

    本发明实施例提供了一种障碍物位置的确定方法、装置和车辆,所述方法应用于车辆中,所述方法包括:获取所述车辆所处环境的图像数据,并根据所述图像数据,预估所处环境中的相邻车位间是否存在障碍物;当预估相邻车位间存在障碍物时,获取针对环境的声波数据,并根据所述声波数据验证是否存在所述障碍物;当存在所述障碍物时,根据所述图像数据,对所述声波数据进行修正,以得到所述障碍物的位置。通过本发明实施例,实现了准确的判断车位间是否存在障碍物,以及准确的确定车位间所存在的障碍物的位置。且基于所确定的准确的障碍物的位置,可以为后续无人驾驶路径的规划提供准确的先验知识,从而保证了无人驾驶的安全性。


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    Title :

    Obstacle position determination method and device and vehicle


    Additional title:

    一种障碍物位置的确定方法、装置和车辆


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

    Publication date :

    2021-08-13


    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 / G06K Erkennen von Daten , RECOGNITION OF DATA




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