The present invention provides a method, an apparatus, an electronic device, and a storage medium for detecting an obstacle, which relate to a field of autonomous driving technology. In accordance with an embodiment of the present invention, the method for detecting an obstacle comprises the following steps of: detecting a location point of each of candidate obstacles at the front side of a vehicle through a millimeter wave radar; detecting left roadside and right roadside of a road where the vehicle is located through a camera; classifying the location point of each of the candidate obstacles, based on the left and right roadsides of the road where the vehicle is located to extract a location point between the left roadside and the right roadside; projecting each location point between the left roadside and the right roadside to an image; and detecting a target obstacle at the front side of the vehicle through a projected point of each location point on the image. In accordance with an embodiment of the present invention, an obstacle at the front side of the vehicle can be more accurately detected, and problems that a millimeter wave radar cannot accurately determine location of an obstacle in a direction of height and a mono camera cannot accurately perform measurement of a distance when an obstacle and a vehicle are not located on the same plane can be overcome.

    본원에는 장애물 검출 방법, 장치, 전자 기기 및 저장 매체가 제공되며, 이들은 자율 주행 기술 분야에 관한 것이다. 구체적인 실시 방안은 아래와 같다. 밀리파 레이더를 통해 차량 전방의 후보 장애물 각각의 위치점을 검출하고; 카메라를 통해 차량이 위치한 도로의 좌측 도로변 및 우측 도로변을 검출하며; 상기 차량이 위치한 도로의 좌우측 도로변을 통해, 후보 장애물 각각의 위치점을 분리하여 좌측 도로변 및 우측 도로변 사이의 위치점을 추출하고; 좌측 도로변 및 우측 도로변 사이의 각각의 위치점을 이미지 상에 투영하며; 각각의 위치점의 이미지 상 투영점을 통해 상기 차량 전방의 목표 장애물을 검출한다. 본원의 실시예는 차량 전방의 장애물을 보다 정확하게 검출할 수 있고, 밀리파 레이더가 높이 방향에서 장애물의 위치를 정확하게 결정하지 못하는 문제 및 단안 카메라가 장애물과 차량이 동일한 평면에 위치하지 않을 경우 거리 측정을 정확하게 구현할 수 없는 문제를 극복한다.


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    Title :

    METHOD AND APPARATUS FOR DETECTING OBSTACLE ELECTRONIC DEVICE AND STORAGE MEDIUM


    Additional title:

    장애물 검출 방법, 장치, 전자 기기 및 저장 매체


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

    Publication date :

    2021-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01S RADIO DIRECTION-FINDING , Funkpeilung / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen




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