The invention discloses an environment description method, device and equipment based on distance transformation, a storage medium and mobile equipment. The environment description method based on distance transformation comprises the following steps: modeling a target environment by using a grid matrix, each grid in the grid matrix storing coordinates of a target obstacle point; when the distance transformation value of each grid is read for distance detection, the relative distance between the grid and the target obstacle point is calculated by using the target obstacle point coordinates stored in the grid, the distance transformation value of the grid is obtained, and the distance transformation value is the distance between the grid and the target obstacle point to be obtained. According to the environment description technology based on distance transformation, the requirement for obstacle distance detection precision of automatic driving is met, and the safety of automatic driving is improved.
本发明公开一种基于距离变换的环境描述方法、装置、设备、存储介质以及移动设备。基于距离变换的环境描述方法,包括:使用栅格矩阵对目标环境建模,所述栅格矩阵中每个栅格存储目标障碍物点坐标;读取每个栅格的距离变换值进行距离检测时,使用该栅格中存储的目标障碍物点坐标计算该栅格与目标障碍物点的相对距离,得到该栅格的距离变换值,该距离变换值即是要获得的该栅格与目标障碍物点的距离。本发明的基于距离变换的环境描述的技术,满足了自动驾驶的障碍物距离检测精度的需要,提升了自动驾驶的安全性。
Environment description method and device based on distance transformation, terminal, storage medium and mobile equipment
基于距离变换的环境描述方法、装置、终端、存储介质及移动设备
2023-11-24
Patent
Electronic Resource
Chinese
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