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Obstacle detecting method and device used for vehicle-mounted radar system

An obstacle detection and vehicle-mounted radar technology is applied in the field of obstacle detection of vehicle-mounted radar systems, which can solve the problems such as the lack of millimeter-wave radar and the influence of the accuracy of calibration results.

Active Publication Date: 2017-02-15
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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Problems solved by technology

Because lidar measures obstacles in 3D, and millimeter-wave radar measures obstacles in 2D, the existing calibration methods cannot solve the lack of dimensions in 3D measurement of millimeter-wave radar, which affects the accuracy of calibration results, so that it cannot Effective use of lidar and mmWave radar to accurately detect the position of obstacles around the vehicle

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  • Obstacle detecting method and device used for vehicle-mounted radar system
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Embodiment Construction

[0035] The application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for ease of description, only the parts related to the relevant invention are shown in the drawings.

[0036] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the present application will be described in detail with reference to the drawings and in conjunction with embodiments.

[0037] figure 1 A flowchart 100 of an embodiment of an obstacle detection method for a vehicle-mounted radar system according to the present application is shown. The vehicle-mounted radar system of this embodiment includes a lidar and a millimeter-wave radar at a preset installation position. Amon...

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Abstract

The invention discloses an obstacle detecting method and an obstacle detecting device used for a vehicle-mounted radar system. The obstacle detecting method is implemented by the specific steps of: detecting a first point cloud data set of calibration objects arranged at a plurality of preset positions, and detecting a first two-dimensional data set of the calibration objects; calibrating the vehicle-mounted radar system based on a preset installation position, the first point cloud data set and the first two-dimensional data set, so as to obtain a calibrated steering angle difference, a calibrated displacement difference and a calibrated vertical coordinate; detecting second point cloud data of an obstacle, and detecting second two-dimensional data of the obstacle; converting the second two-dimensional data into a laser radar coordination system based on the calibrated steering angle difference, the calibrated displacement difference and the calibrated vertical coordinate, so as to obtain converted third-dimensional coordinates; and merging the second point cloud data and the converted third-dimensional coordinates, so as to determine a position of the obstacle. Through the implementation of the obstacle detecting method and the obstacle detecting device, the obstacle can be precisely detected by effectively utilizing a laser radar and a millimeter-wave radar simultaneously.

Description

Technical field [0001] This application relates to the field of vehicle control, in particular to the field of vehicle detection, and in particular to an obstacle detection method and device for an on-board radar system. Background technique [0002] Millimeter wave radar and lidar have a wide range of applications in fields such as autonomous driving and ADAS (Advanced Driver Assistant System). Lidar can realize accurate shape perception of obstacles; millimeter-wave radar can provide effective perception data on the position and speed of obstacles, and can resist the interference of rain and snow. In many instances of automatic driving and ADAS, the position and posture of the two sensors need to be calibrated in order to fuse the data to achieve accurate and robust perception of obstacles. [0003] The calibration algorithm is used to calculate the coordinate transformation between the millimeter wave radar data coordinate system and the lidar data coordinate system. Since lid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/93G01S17/93G01S13/931G01S17/931
CPCG01S13/931G01S17/931G01S7/4026G01S7/4972G01S13/865G01S7/4004G01S7/497
Inventor 李博邵睿
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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