The invention discloses an obstacle recognition method, which comprises the steps of determining a first acceleration of a vehicle according to current state information of the vehicle; determining a second acceleration of the vehicle according to a measurement result of an inertial measurement unit of the vehicle; and under the condition that the first acceleration and the second acceleration meet a preset condition, determining the confidence coefficient of the identified obstacle. According to the method, the characteristic that the jump time of the acceleration calculated according to the IMU signal is earlier than the jump time of the acceleration calculated according to the actual torque of the vehicle can be utilized, and the confidence coefficient of the obstacle is calculated according to the two sets of accelerations. Through the above mode, the scheme provided by the invention can effectively reduce the calculation time delay and improve the calculation accuracy, thereby improving the driving safety of the vehicle in a low obstacle situation.
本申请公开了一种障碍物识别方法,包括:根据车辆当前的状态信息,确定车辆的第一加速度;根据车辆的惯性测量单元的测量结果,确定车辆的第二加速度;在第一加速度与第二加速度满足预设条件的情况下,确定被识别障碍物的置信度。本申请能够利用根据IMU信号计算得到加速度的跳变时间相较于根据车辆实际扭矩计算得到加速度的跳变时间早的特性,根据上述的两组加速度来计算障碍物的置信度。通过上述的方式,本申请提供的方案能够有效降低计算时延,提高计算精确度,从而提高车辆针对低矮障碍物情境下的行驶安全性。
Obstacle recognition method and device, computer equipment and storage medium
障碍物识别方法、装置、计算机设备及存储介质
2024-06-25
Patent
Electronic Resource
Chinese
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 |
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