The invention relates to an automatic driving road collision risk map generation method and system and a medium, and the method comprises the steps: M1, enabling a vehicle to run on a road, obtaining the obstacle point cloud data information of the road in real time based on a vehicle-mounted laser radar, and obtaining the obstacle image data information of the road in real time based on a vehicle-mounted camera; and M2, the obstacle point cloud data information of the road and the obstacle image data information of the road are projected to an occupied grid map, occupied grids in the grid map indicate that obstacles exist, non-occupied grids indicate that no obstacles exist, and data information of the obstacle occupied grid map is obtained. According to the method, the collision risks of different obstacles encountered by the autonomous vehicle on the road are quantified, the road collision risk map can unify the constraint conditions of the autonomous driving planning environment, and a safe, robust and smooth passable track can be quickly obtained by assisting a track planning algorithm.

    本发明涉及一种自动驾驶道路碰撞风险地图的生成方法、系统及介质,所述方法包括:M1.车辆行驶在道路上,基于车载激光雷达实时获取道路的障碍物点云数据信息,基于车载摄像头实时获取道路的障碍物图像数据信息;M2.将所述道路的障碍物点云数据信息和所述道路的障碍物图像数据信息投影至占用栅格地图,栅格地图中被占用的格网表示存在障碍物,未被占据的格网表示不存在障碍物,得到障碍物占用栅格图数据信息。本发明不仅量化自动驾驶汽车在道路上遇到的不同障碍物的碰撞风险,而且道路碰撞风险地图可以统一自动驾驶规划环境的约束条件,辅助轨迹规划算法快速得到安全、鲁棒、平滑的可通行轨迹。


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    Title :

    Automatic driving road collision risk map generation method and system and medium


    Additional title:

    一种自动驾驶道路碰撞风险地图的生成方法、系统及介质


    Contributors:
    GUO XIAOMIN (author) / LUO MAN (author) / CAO KAI (author) / LI HONGBO (author) / GUO XING (author)

    Publication date :

    2024-04-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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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