Method and device for identifying target object, storage medium and vehicle

Abstract

The invention relates to a method and a device for identifying a target object, a storage medium and a vehicle. The method comprises the following steps that: obtaining a current frame of image and aprevious frame of image in a preset range around the vehicle; according to the current frame of image and the previous frame of image, obtaining target characteristics, determining the first positioninformation of the target characteristics in the current frame of image, and determining the light stream of the target characteristic according to the first position information; according to the first position information and the light stream, carrying out clustering on the target characteristic to obtain a first target object; obtaining the second position information and the speed informationof a target to be clustered in the preset range around the vehicle, and according to the second position information and the speed information, clustering the target to be clustered to obtain a secondtarget object; and according to the first position information, the second position information, the light stream and the speed information, identifying whether the first target object and the secondtarget object are the same target object or not.

Description

technical field [0001] The present disclosure relates to the technical field of vehicles, and in particular, to a method, device and storage medium for identifying an object, and a vehicle. Background technique [0002] In order to improve the accuracy and reliability of single sensor detection, multi-sensor information fusion technology has received more and more attention in the field of vehicle safety assurance research. [0003] At present, in order to improve the accuracy of driverless cars' recognition of the front environment, radar sensors and vision sensors are usually used for information fusion. On the windshield, however, since the above-mentioned information fusion process mainly relies on location information for fusion, and the visual sensor is easily affected by changes in weather conditions and lighting conditions, the visual detection effect is also affected accordingly, and when different targets overlap, simple Relying solely on the position of the targe...

AI Technical Summary

Problems solved by technology

[0003] At present, in order to improve the accuracy of driverless cars' recognition of the front environment, radar sensors and vision sensors are usually used for information fusion. On the windshield, however, since the above-mentioned information fusion process mainly relies on location information for fusion, and the visual sensor is easily affected by changes in weather conditions and lighting conditions, the visual detection effect is also affected accordingly, and when different targets overlap, simple Relying solely on the position of the target in the image cannot distinguish it. In this way, relying solely on the position information cannot accurately identify the target collected by the visual sensor and radar sensor, resulting in the failure of information fusion.

Images