The invention relates to the technical field of automatic driving, in particular to a target object detection method and device, a vehicle and a storage medium. Determining an image detection result of a target object in the environment image through a target detection model according to the environment image; the image detection result comprises a first relative position of a target object and a vehicle; performing data screening on radar point cloud data acquired by the vehicle according to the image detection result to obtain target point cloud data corresponding to the target object; and determining a target detection result according to the target point cloud data, wherein the target detection result comprises a second relative position of the target object and the vehicle. The target object is detected according to the screened target point cloud data, so that the calculation complexity of a laser point cloud target detection algorithm can be reduced, and the detection efficiency is improved. Meanwhile, compared with a pure visual image perception scheme, the positioning precision of the target object can be remarkably improved.
本公开涉及自动驾驶技术领域,尤其涉及一种目标对象检测方法、装置、车辆及存储介质,可以获取车辆当前所处环境的环境图像;根据环境图像通过目标检测模型,确定环境图像中目标对象的图像检测结果;所述图像检测结果包括目标对象与车辆的第一相对位置;根据图像检测结果对车辆获取的雷达点云数据进行数据筛选,得到目标对象对应的目标点云数据;根据目标点云数据确定目标检测结果,所述目标检测结果包括目标对象与车辆的第二相对位置。根据筛选后的目标点云数据进行目标对象的检测可以降低激光点云目标检测算法的计算复杂度,提高检测效率。与此同时,相对于纯视觉的图像感知方案,可以显著提升对目标对象的定位精度。
Target object detection method and device, vehicle and storage medium
目标对象检测方法、装置、车辆及存储介质
2023-02-28
Patent
Electronic Resource
Chinese
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