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Travelable area acquisition method, computer readable storage medium and terminal device

A technology of driving area and acquisition method, which is applied in the field of vehicle driving and can solve problems such as inaccurate detection of drivable area

Active Publication Date: 2019-07-23
WHST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, an embodiment of the present invention provides a method for obtaining a drivable area, a computer-readable storage medium, and a terminal device to solve the problem of inaccurate detection of the drivable area in the prior art

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  • Travelable area acquisition method, computer readable storage medium and terminal device
  • Travelable area acquisition method, computer readable storage medium and terminal device
  • Travelable area acquisition method, computer readable storage medium and terminal device

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Embodiment Construction

[0028] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0029] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0030] An embodiment of the present invention provides a method for acquiring a drivable area. combine figure 1 , the method includes:

[0031] S101. Collect point cloud data frame by frame through the millimeter wave radar installed on the vehicle, wherein the time ...

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Abstract

The invention provides a travelable area acquisition method, a computer readable storage medium and a terminal device. The method comprises the following steps: collecting point cloud data frame by frame through a millimeter wave radar installed on a vehicle; obtaining CFAR points that are relatively stationary with respect to the ground from the point cloud data according to a traveling speed ofthe vehicle and the Doppler speed of each CFAR point in the point cloud data detected by the millimeter wave radar; obtaining an operation state of the vehicle according to the traveling speed of thevehicle and the heading angle information of the vehicle, and translating a grid probability map; projecting all CFAR points that are relatively stationary with respect to the ground in each frame into the grid probability map, and calculating a probability value of each CFAR point in the grid probability map; and taking the CFAR point with the probability value higher than a first preset value asthe point of an obstacle, and taking other areas other than the point of the obstacle as a travelable area. By processing the point cloud data, the obstacle information that is relatively stationarywith respect to the ground is accurately obtained, and the obstacle is displayed on a display screen to obtain the travelable area.

Description

technical field [0001] The invention belongs to the technical field of vehicle driving, and in particular relates to a method for acquiring a drivable area, a computer-readable storage medium and a terminal device. Background technique [0002] In recent years, with the rapid development of the automobile industry, traffic accidents have become a global problem. It is estimated that the number of deaths and injuries in traffic accidents in the world exceeds more than 500,000 people every year. The demand for traffic improvement and driving safety continues to increase. [0003] Obstacle detection is performed in real time while the vehicle is driving, and the drivable area is obtained for operations such as obstacle avoidance, which can effectively improve driving safety. Although there is an obstacle detection scheme in the prior art to obtain a drivable area, its detection accuracy needs to be improved, and it can only detect well-defined obstacle types, and it is difficul...

Claims

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Application Information

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IPC IPC(8): G01S13/93G01S13/50
CPCG01S13/50G01S13/931
Inventor 黄子月袁亚运秦屹
Owner WHST CO LTD
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