The invention relates to the field of automatic driving, in particular to a static obstacle object recognition method and related equipment. The method comprises the following steps: acquiring m frames of point cloud data acquired by acquisition equipment; determining whether a continuously enlarged target object exists in the m frames of point cloud data; if the continuously enlarged target object exists, controlling the target vehicle to decelerate to a preset speed according to a preset deceleration strategy; acquiring multi-frame point cloud data acquired by the current acquisition equipment; determining whether the target object is a static obstacle object according to the multi-frame point cloud data; and if the target object is the static obstacle object, executing a corresponding avoidance strategy. In the embodiment of the invention, when the continuously enlarged target object appears in the collected point cloud data, the target vehicle is controlled to decelerate to the preset speed, and then whether the target object is a static object is further determined according to the currently collected multi-frame point cloud data, so that the accuracy of static obstacle object recognition is improved.

    本发明涉及自动驾驶领域,尤其涉及一种静态障碍物体识别方法及相关设备。其中,该方法包括:获取采集设备采集的m帧点云数据;确定所述m帧点云数据中是否存在持续变大的目标物体;如果存在持续变大的目标物体,则根据预设减速策略控制所述目标车辆减速至预设速度;获取当前采集设备采集到的多帧点云数据;根据所述多帧点云数据确定所述目标物体是否为静态障碍物体;若所述目标物体是静态障碍物体,则执行对应的避让策略。本发明实施例中,当发现采集的点云数据中出现持续变大的目标物体时通过控制目标车辆减速至预设速度后,再根据当前采集的多帧点云数据来进一步确定该目标物体是否为静态占该物体,提高了静态障碍物体识别的准确性。


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    Title :

    Static obstacle object identification method and related equipment


    Additional title:

    一种静态障碍物体识别方法及相关设备


    Contributors:
    HUANG TAO (author) / GUO ZONGHUAN (author) / LIU CHANGDONG (author)

    Publication date :

    2023-06-06


    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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