Method and device for determining moving trace of obstacle

Abstract

The invention discloses a method and a device for determining a moving trace of an obstacle, and belongs to the field of intelligent traffic. The method comprises the following steps: determining a transverse coordinate of the obstacle in each frame of image of continuous n frames of images acquired by a vision sensor, wherein n is an integer larger than 1; performing curve fitting on the transverse coordinates of the obstacle in the continuous n frames of images according to a preset curve fitting algorithm, thus obtaining the moving trace of the obstacle. According to the method and the device, the images acquired by the vision sensor arranged on a vehicle are subjected to analytic processing, so that the moving trace of the obstacle is determined; the problem that of high complexity during data processing in the relevant technology is solved, and the effects of reducing the detection cost of the obstacle and improving the data processing efficiency of the sensor are achieved. The method is used for determining the moving trace of the obstacle.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a method and device for determining the movement track of an obstacle. Background technique [0002] In order to detect the road environment around the vehicle, the vehicle is generally equipped with various sensors such as vision sensors, millimeter-wave radar sensors, and lidar sensors. The various sensors can monitor the orientation and moving speed of obstacles around the vehicle, so that the driver can make a more accurate judgment on the driving state of the obstacles. [0003] In related technologies, the vehicle needs to fuse and process the data collected by multiple sensors such as vision sensors, millimeter-wave radar sensors, and lidar sensors, that is, to complement and optimize the measurement data collected by the multiple sensors to generate more reliable and accurate data. information, thereby improving the ability of the vehicle to detect the surroundi...

AI Technical Summary

Problems solved by technology

[0004] Although the detection accuracy of the millimeter-wave radar sensor and the lidar sensor is high, the cost of the two sensors is high; and, when there are many types of sensors installed on the vehicle, the vehicle needs to perform fusion processing on the data of various sensors. The complexity of processing is high, and the efficiency of data processing is low

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