The invention discloses an air floating object detection method, device and equipment and a storage medium, and the method comprises the steps: fusing image data and point cloud data collected by an automatic driving vehicle, and obtaining the attribute information of an obstacle, including the type, the motion track, the three-dimensional contour and the motion state information; screening the obstacles according to the attribute information, judging whether the target obstacle is a rigid body or not according to the feature point information of the target obstacle in the screened to-be-judged obstacle set, if not, judging that the target obstacle is an air floating object, and if yes, obtaining the vertical axis acceleration of the target obstacle according to the motion trail of the target obstacle, if the vertical-axis acceleration is smaller than the reference gravitational acceleration and the difference between the vertical-axis acceleration and the reference gravitational acceleration is larger than a preset difference threshold value, the target obstacle is judged to be the air floating object, and the problems that in the prior art, the air floating object is treated as an obstacle, so that an automatic driving vehicle is prone to generating unreasonable behaviors, and the driving efficiency is poor are solved. And safety accidents are further caused.

    本申请公开了一种空中飘浮物体检测方法、装置、设备和存储介质,融合自动驾驶车辆采集的图像数据和点云数据,获取障碍物的属性信息,包括类别、运动轨迹、三维轮廓和运动状态信息;根据属性信息对障碍物进行筛选,根据筛选后的待判断障碍物集合中目标障碍物的特征点信息判断目标障碍物是否为刚体,若否,则判定目标障碍物为空中漂浮物体,若是,则根据目标障碍物的运动轨迹获取目标障碍物的竖轴加速度,若竖轴加速度小于基准重力加速度且竖轴加速度与基准重力加速度的差值大于预置差值阈值,则判定目标障碍物为空中漂浮物体,改善了现有技术将空中漂浮物体当做障碍物进行处理,使得自动驾驶车辆容易产生不合理行为,进而导致安全事故的技术问题。


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    Title :

    Air floating object detection method, device and equipment and storage medium


    Additional title:

    一种空中飘浮物体检测方法、装置、设备和存储介质


    Contributors:
    YOU YUE (author)

    Publication date :

    2022-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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