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US 11,599,120 B2Granted
Obstacle detecting method, apparatus, device and computer storage medium
AssigneeApollo Intelligent Driving Technology (Beijing) Co., Ltd.
InventorChen Chen
Life of this patent
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Abstract
An obstacle detecting method, apparatus, device and computer storage medium are proposed. The method includes: obtaining data acquired by a plurality of sensors installed on a vehicle at the same time; combining the data acquired at the same time to obtain a data set corresponding to the time; and performing obstacle detection based on the data set to obtain obstacle information. The technical solution may reduce financial costs and enrich information amount of the data, and may simplify the obstacle detecting steps, and avoid the problem about failure to fuse data in different formats, and thereby further improve the vehicle's travel safety.
Claims13
An obstacle detecting method, comprising:
- obtaining data acquired at a same time by a plurality of sensors installed on a vehicle for sensing an environment around the vehicle;
- wherein the plurality of sensors comprise a plurality of different types of sensors comprising one first sensor of a first type, at least two sensors of a second type, and at least two sensors of a third type, and wherein the data obtained by the first sensor of the first type have a first format, the data obtained by the at least two sensors of the second type have a second format, and the data obtained by the at least two sensors of the third type have a third format;
- combining the data acquired at the same time to obtain a data set corresponding to the time, comprising:
- fusing the data of the second format;
- fusing the data of the third format;
- and writing the data of the first format, the data of the second format obtained by fusing, and the data of the third format obtained by fusing into the data set;
- and
- performing obstacle detection using a first method corresponding to the first format with the data of the first format, using a second method corresponding to the second format with the data of the second format obtained by fusing, and using a third method corresponding to the third format with the data of the third format obtained by fusing, to obtain obstacle information, so that the vehicle is controlled according to obtained obstacle information.
5 more elements
A device, comprising:
- one or more processors;
- a storage for storing one or more programs,
- said one or more programs are executed by said one or more processors to enable said one or more processors to implement an obstacle detecting method, wherein the obstacle detecting method comprises:
- obtaining data acquired at a same time by a plurality of sensors installed on a vehicle for sensing an environment around the vehicle;
- wherein the plurality of sensors comprise a plurality of different types of sensors comprising one first sensor of a first type, at least two sensors of a second type, and at least two sensors of a third type, and wherein the data obtained by the first sensor of the first type have a first format, the data obtained by the at least two sensors of the second type have a second format, and the data obtained by the at least two sensors of the third type have a third format;
- combining the data acquired at the same time to obtain a data set corresponding to the time comprising:
- fusing the data of the second format;
- fusing the data of the third format;
- and writing the data of the first format, the data of the second format obtained by fusing, and the data of the third format obtained by fusing into the data set;
- and
- performing obstacle detection using a first method corresponding to the first format with the data of the first format, using a second method corresponding to the second format with the data of the second format obtained by fusing, and using a third method corresponding to the third format with the data of the third format obtained by fusing, to obtain obstacle information, so that the vehicle is controlled according to obtained obstacle information.
8 more elements
A non-transitory storage medium comprising computer-executable instructions, the computer-executable instructions, when executed by a computer processor, being used to implement an obstacle detecting method, wherein the obstacle detecting method comprises:
- obtaining data acquired at a same time by a plurality of sensors installed on a vehicle for sensing an environment around the vehicle;
- wherein the plurality of sensors comprise a plurality of different types of sensors comprising one first sensor of a first type, at least two sensors of a second type, and at least two sensors of a third type, and wherein the data obtained by the first sensor of the first type have a first format, the data obtained by the at least two sensors of the second type have a second format, and the data obtained by the at least two sensors of the third type have a third format;
- combining the data acquired at the same time to obtain a data set corresponding to the time comprising:
- fusing the data of the second format;
- fusing the data of the third format;
- and writing the data of the first format, the data of the second format obtained by fusing, and the data of the third format obtained by fusing into the data set;
- and
- performing obstacle detection using a first method corresponding to the first format with the data of the first format, using a second method corresponding to the second format with the data of the second format obtained by fusing, and using a third method corresponding to the third format with the data of the third format obtained by fusing, to obtain obstacle information, so that the vehicle is controlled according to obtained obstacle information.
5 more elements
Dependencies are inferred from the claim text.