The present disclosure relates to stationary object detection, in particular to a method of detecting stationary objects implemented by a control system of an ego-vehicle, the method comprising: receiving sensor signal data comprising stationary and non-stationary detections from a surrounding environment of the ego-vehicle; determining at least one group of stationary detections which meet one or more lateral position selection criteria based on the lateral position of each stationary detection from a direction faced by the ego-vehicle; determining, at least one group of stationary detections which meet one or more group regularity selection criteria based on the regularity of the differences in position between pairs of sequentially positioned stationary detections in the group in the direction faced by the ego vehicle; determining one or more groups of stationary detections which meet the lateral selection criteria and the group regularity selection criteria for being a group of stationary detections corresponding to at least one stationary object; and removing the stationary detections in corresponding to at least one stationary object from the sensor signal data output to one or more data processing components of the control system.
本公开涉及静止对象检测,具体涉及由自主车辆的控制系统实现的检测静止对象的方法,包括:从车辆的周围环境接收包括静止检测和非静止检测的传感器信号数据;基于从车辆面对的方向的每个静止检测的横向位置,确定满足一个或多个横向位置选择标准的至少一个静止检测组合;基于组合中在车辆面对的方向上顺序地定位的静止检测对之间的位置差的规则性,确定满足一个或多个组合规则性选择标准的至少一个静止检测组合;确定满足用于作为与至少一个静止对象相对应的静止检测的组合的横向选择标准和组合规则性选择标准的一个或多个静止检测组合;从输出到控制系统的一个或者多个数据处理部件的传感器信号数据中移除与至少一个静止对象相对应的静止检测。
STATIONARY OBJECT DETECTION
静止对象检测
2022-02-22
Patent
Electronic Resource
Chinese
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 |
European Patent Office | 2023
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