To provide a method, a device, an electronic apparatus, a storage medium, and a computer program for accurately detecting an obstacle in front of a vehicle.SOLUTION: An obstacle detection method includes detecting respective position points of candidate obstacles in front of a vehicle by means of a millimeter wave radar, detecting a left boundary and a right boundary of a road on which the vehicle is located by means of a camera, extracting position points located between the left road boundary and the right road boundary by classifying the position points of the candidate obstacles in accordance with the left and right boundaries of the road on which the vehicle is located, projecting, onto an image, the position points located between the left boundary and the right boundary, and detecting a target obstacle in front of the vehicle in accordance with the projection points of the position points on the image. Accordingly, an obstacle in front of the vehicle can be further accurately detected, positioning in the height direction of the obstacle can be performed by a millimeter wave radar, and accurate ranging can be performed by a monocular camera even in a case where the obstacle and the vehicle are not on the same plane.SELECTED DRAWING: Figure 1

    【課題】車両前方の障害物を正確に検出ための方法、装置、電子機器、記憶媒体及びコンピュータプログラムを提供する。【解決手段】ミリ波レーダにより車両前方の候補障害物の各位置点を検出し、カメラにより車両が位置する左道路境界線及び右道路境界線を検出し、前記車両が位置する道路の左右道路境界線により、候補障害物の各位置点を区分けして、左道路境界線と右道路境界線との間の位置点を抽出し、左道路境界線と右道路境界線との間の各位置点を画像に投影し、各位置点の前記画像における投影点により前記車両前方のターゲット障害物を検出することにより、車両前方の障害物をより正確に検出することができ、ミリ波レーダの障害物の高さ方向での測位、並びに障害物と自車とが同一平面にない場合にも単眼カメラで正確に測距する。【選択図】図1


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    Title :

    OBSTACLE DETECTION METHOD, DEVICE, ELECTRONIC APPARATUS, STORAGE MEDIUM, AND COMPUTER PROGRAM


    Additional title:

    障害物検出方法、装置、電子機器、記憶媒体及びコンピュータプログラム


    Contributors:
    WANG ZHI (author) / PAN YONG (author) / ZHAO QINGHUI (author)

    Publication date :

    2021-09-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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