The invention provides an obstacle tracking method, device and equipment, a storage medium and an automatic driving vehicle, and relates to the technical field of computers, in particular to the technical fields of automatic driving, machine learning and the like. According to the specific implementation scheme, a plurality of obstacles to be recognized and a plurality of known obstacles are paired to obtain a plurality of obstacle pairs to be processed; determining a plurality of feature differences between the to-be-identified obstacle and the known obstacle in each to-be-processed obstacle pair, and obtaining a feature difference set of each to-be-processed obstacle pair; processing the feature difference set of each to-be-processed obstacle pair based on a decision tree to obtain an association probability of each to-be-processed obstacle pair, the association probability representing a similarity between a to-be-identified obstacle in the to-be-processed obstacle pair and a known obstacle; and based on the principle of minimizing the pairing cost, re-pairing the plurality of obstacles to be identified and the plurality of known obstacles based on the association probability of each obstacle pair to be processed so as to identify the known obstacles in the plurality of obstacles to be identified.
本公开提供了障碍物追踪方法、装置、设备、存储介质及自动驾驶车辆,本公开涉及计算机技术领域,尤其涉及自动驾驶、机器学习等技术领域。具体实现方案为:将多个待识别障碍物和多个已知障碍物进行配对,得到多个待处理障碍物对;确定各待处理障碍物对中待识别障碍物和已知障碍物之间的多种特征差异,得到各待处理障碍物对的特征差异集;基于决策树处理各待处理障碍物对的特征差异集,得到各待处理障碍物对的关联概率,关联概率表示待处理障碍物对中的待识别障碍物和已知障碍物之间的相似度;以最小化配对成本为原则,基于各待处理障碍物对的关联概率对多个待识别障碍物和多个已知障碍物重新进行配对,以识别出多个待识别障碍物中的已知障碍物。
Obstacle tracking method, device and equipment, storage medium and automatic driving vehicle
障碍物追踪方法、装置、设备、存储介质及自动驾驶车辆
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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