To provide an obstacle detecting method, an obstacle detecting apparatus based on an unmanned vehicle, and a device, and a storage medium.SOLUTION: An obstacle detecting method includes: obtaining point cloud data collected by a detecting device, where the point cloud data are data obtained by detecting an obstacle around an unmanned vehicle by the detecting device (101); projecting the point cloud data onto a two-dimensional plane to obtain a two-dimensional projection grid graph which has multiple grids and two-dimensional data that are the data obtained by projecting the point cloud data (102); generating multiple straight lines according to the two-dimensional projection grid graph, where each of the multiple straight lines has two-dimensional data and parameter information characterizing a relationship between the straight line and other straight lines in the plurality of straight lines (103); and determining orientation information of the obstacle according to the two-dimensional data and the parameter information of each of the multiple straight lines, and accurately determining the orientation of the obstacle around the unmanned vehicle (104). At the same time, the method helps the unmanned vehicle to avoid the obstacle.SELECTED DRAWING: Figure 1
【課題】無人運転車に基づく障害物の検出方法、装置、デバイス及び記憶媒体を提供する。【解決手段】検出デバイスにより収集した点群データを取得し、点群データは、検出デバイスが無人運転車の周囲の障害物を検出して得られたデータであり101、点群データを二次元平面に投影して、複数のグリッドと点群データを投影して得られたデータである二次元データとを備えている二次元投影グリッド図を取得し102、二次元投影グリッド図に従って、複数本の直線を生成し、複数本の直線における各直線には二次元データと、当該直線と複数本の直線における他の直線との関係を特徴付けているパラメータ情報とを有し103、障害物の方位情報を、複数本の直線における各直線の二次元データとパラメータ情報とに従って確定し、無人運転車の周囲の障害物の方位を正確的に確定する104、とともに無人運転車が障害物を回避するのを助ける。【選択図】図1
OBSTACLE DETECTING METHOD AND OBSTACLE DETECTING APPARATUS BASED ON UNMANNED VEHICLE, AND DEVICE, AND STORAGE MEDIUM
無人運転車に基づく障害物の検出方法、装置、デバイス及び記憶媒体
2019-11-28
Patent
Electronic Resource
Japanese
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