The invention relates to a vehicle passable area confirmation method, device and equipment and a storage medium, and belongs to the technical field of automatic driving. Acquiring original data and vehicle chassis data; determining a current first probability of each sub-region according to the original point cloud data of the laser radar; determining a current second probability and a motion state of each sub-region according to the original point cloud data of the millimeter wave radar; determining a current third probability and a sub-region type of each sub-region according to the original image data; determining a historical fusion probability corresponding to each sub-region according to the chassis data of the vehicle at the current moment and the previous moment; performing weighted calculation on the current first probability, the current second probability, the current third probability and the historical fusion probability of each sub-region to determine the current fusion probability of the current sub-region; and determining whether the current sub-region is a feasible passage region or not according to the current fusion probability, the sub-region type and the motion state of the current sub-region.

    本发明涉及一种车辆可通行区域确认方法、装置、设备及存储介质,属于自动驾驶技术领域,方法包括:获取车辆的当前关注区域;获取原始数据和车辆底盘数据;根据激光雷达原始点云数据确定各个子区域的当前第一概率;根据毫米波雷达原始点云数据确定各个子区域的当前第二概率和运动状态;根据原始图像数据确定各个子区域的当前第三概率和子区域类型;根据车辆当前时刻以及前一时刻的本车底盘数据确定各个子区域对应的历史融合概率;对各子区域的当前第一概率、当前第二概率、当前第三概率和历史融合概率进行加权计算,以确定当前子区域的当前融合概率;根据当前子区域的当前融合概率、子区域类型和运动状态确定当前子区域是否为可行通行区域。


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    Title :

    Vehicle passable area confirmation method, device and equipment and storage medium


    Additional title:

    车辆可通行区域确认方法、装置、设备及存储介质


    Contributors:
    YU JIALAN (author) / CHEN JIANBIN (author) / REN FAN (author)

    Publication date :

    2023-11-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06V



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