The invention discloses an obstacle positioning method, device and equipment and a vehicle, and the method comprises the steps: obtaining the scanning information of a plurality of radars of the vehicle, the scanning information being used for describing the distance information from an obstacle scanned by the radars to the radars; equivalent points of the obstacles in an obstacle map are determined according to the scanning information, the obstacle map comprises coordinate information of the obstacles, and the peripheral area of the vehicle is covered with the obstacle map; and when the equivalent points are not in the scanning range of the radar, keeping the equivalent points in the obstacle map so as to position the obstacle according to the equivalent points. And determining that the obstacle enters the recognition blind area of the radar when the obstacle is not in the scanning range of the radar. By establishing the obstacle map covering the peripheral area of the vehicle, the equivalent point of the obstacle in the obstacle map can be determined, after the obstacle enters the recognition blind area of the radar, tracking and positioning of the obstacle can be achieved, and then safe driving of the vehicle is guaranteed.

    本申请公开了一种障碍物定位方法、装置、设备及车辆,该方法包括:获取车辆的多个雷达的扫描信息,扫描信息用于描述雷达扫描到的障碍物到雷达的距离信息;根据扫描信息确定障碍物在障碍物地图的等效点,障碍物地图包括障碍物的坐标信息,障碍物地图覆盖车辆的外围区域;当等效点不在雷达的扫描范围内时,保留障碍物地图中的等效点,以便根据等效点对障碍物进行定位。确定障碍物不在雷达的扫描范围时,即障碍物进入到雷达的识别盲区。本申请通过建立覆盖车辆的外围区域的障碍物地图,能够确定障碍物在障碍物地图中的等效点,障碍物进入到雷达的识别盲区后,能够实现对障碍物的追踪及定位,进而保证车辆的安全行驶。


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    Title :

    Obstacle positioning method, device and equipment and vehicle


    Additional title:

    一种障碍物定位方法、装置、设备及车辆


    Contributors:
    WANG NAIHAN (author) / ZHANG KEKE (author) / DING HAIJIAN (author) / LI XI (author) / YANG MENGJUN (author) / ZHANG CHUNWEI (author) / WANG YAN (author)

    Publication date :

    2022-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / 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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