The invention provides an obstacle tracking method and device and a vehicle, and the method comprises the steps: predicting the moving track of a target obstacle according to the moving speed and moving direction of the target obstacle before the target obstacle is shielded under the condition that the target obstacle is completely shielded for a preset time, the completely shielded state is a state in which an image acquisition device of the current vehicle cannot acquire an image of any part of the target obstacle; determining the current position of the target obstacle according to the moving track of the target obstacle; and under the condition that the current position of the target obstacle is located in the detection range of the current vehicle, the target obstacle continues to be tracked, and the detection range is the detection range of the image acquisition device of the current vehicle. According to the method, the problem of accident danger caused by mistaken deletion of the tracking target in the prior art is solved.
本申请提供了一种障碍物的跟踪方法、跟踪装置和车辆,该方法包括:在目标障碍物处于被完全遮挡状态持续预定时间的情况下,根据目标障碍物被遮挡前的移动速度和移动方向预测目标障碍物的移动轨迹,被完全遮挡状态为当前车辆的图像采集装置无法采集到目标障碍物任意部分的图像的状态;根据目标障碍物的移动轨迹确定目标障碍物的当前位置;在目标障碍物的当前位置位于当前车辆的检测范围内的情况下,继续跟踪目标障碍物,检测范围为当前车辆的图像采集装置探测的范围。该方法解决了现有技术中跟踪目标误删除导致出现事故危险的问题。
Obstacle tracking method, tracking device and vehicle
障碍物的跟踪方法、跟踪装置和车辆
2022-12-02
Patent
Electronic Resource
Chinese
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