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。


    Access

    Download


    Export, share and cite



    Title :

    Target object detection method and device, vehicle and storage medium


    Additional title:

    目标对象检测方法、装置、车辆及存储介质


    Contributors:
    WAN SHAOHUA (author)

    Publication date :

    2023-02-28


    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 / G06V



    Target object screening method and device, electronic device, storage medium and vehicle

    LI XIAOGANG / ZOU XIN / PAN WENBO et al. | European Patent Office | 2023

    Free access

    TARGET DETECTION METHOD, DEVICE, UNMANNED AERIAL VEHICLE, AND COMPUTER-READABLE STORAGE MEDIUM

    DING XU / GUO YANA / ZHANG LILIANG | European Patent Office | 2022

    Free access

    Target vehicle identification method and device, vehicle and storage medium

    WANG LINGWEI | European Patent Office | 2022

    Free access

    Target management method and device, vehicle and storage medium

    GUAN YINGZHOU / WANG YINAN / WEI YUANBO et al. | European Patent Office | 2021

    Free access

    Target vehicle control method, vehicle and storage medium

    LAO DEXING / JIANG SHUAI / ZHANG JIANBIN et al. | European Patent Office | 2023

    Free access