阅读说明：本技术 一种障碍物检测方法及设备 (Obstacle detection method and equipment ) 是由 曹彤彤 邵云峰 于 2017-06-02 设计创作，主要内容包括：一种障碍物检测方法及系统(100),用以提升障碍物识别精度的同时避免较大的数据处理量,方法包括：障碍物信息处理设备(110)接收障碍物检测数据采集器(120)针对目标交通工具采集的n个障碍物的描述信息,根据n个障碍物的描述信息更新障碍物信息列表,获得更新后的障碍物信息列表；障碍物信息处理设备(110)根据更新后的障碍物信息列表获得目标区域信息和非目标区域信息,并将目标区域信息和非目标区域信息发送给激光雷达数据采集器(130)；障碍物信息处理设备(110)接收激光雷达数据采集器(130)采集的采样点集合；最后,障碍物信息处理设备(110)根据采样点集合和更新后的障碍物信息列表,获得障碍物检测结果。因此,避免较大的数据处理量,同时保证了障碍物识别精度。(An obstacle detection method and system (100) for improving obstacle recognition accuracy while avoiding large data throughput, the method comprising: the obstacle information processing device (110) receives the description information of n obstacles collected by the obstacle detection data collector (120) aiming at the target vehicle, updates an obstacle information list according to the description information of the n obstacles and obtains the updated obstacle information list; the obstacle information processing device (110) acquires target area information and non-target area information according to the updated obstacle information list, and sends the target area information and the non-target area information to the laser radar data collector (130); the obstacle information processing device (110) receives a sampling point set collected by the laser radar data collector (130); finally, the obstacle information processing device (110) obtains an obstacle detection result according to the sampling point set and the updated obstacle information list. Therefore, a large data processing amount is avoided, and the obstacle recognition accuracy is ensured.)

An obstacle detection method, comprising:

the method comprises the steps that an obstacle information processing device receives description information of n obstacles collected by an obstacle detection data collector aiming at a target vehicle, wherein n is a positive integer;

the obstacle information processing equipment updates an obstacle information list according to the description information of the n obstacles to obtain an updated obstacle information list;

the obstacle information processing device obtains target area information and non-target area information from the updated obstacle information list, and sends the target area information and the non-target area information to a laser radar data collector, so that the number of sampling points collected by the laser radar data collector in the unit volume of each target area is larger than that collected in the unit volume of each non-target area, wherein the target area information is for indicating at least one target area, the non-target area information is for indicating at least one non-target area, wherein the target area is an area including an obstacle, and the non-target area is an area not including an obstacle, or the target area is an area containing obstacles meeting preset screening conditions, and the non-target area is an area not containing obstacles meeting the preset screening conditions;

the obstacle information processing equipment receives a sampling point set collected by the laser radar data collector, wherein the sampling point set comprises the number of sampling points collected by the laser radar data collector in the at least one target area and the number of sampling points collected by the laser radar data collector in the at least one non-target area;

and the obstacle information processing equipment obtains an obstacle detection result according to the sampling point set and the updated obstacle information list.

The method of claim 1, wherein the obstacle detection data collector comprises at least one vision sensor and/or at least one millimeter wave radar sensor.

The method of claim 1 or 2, wherein the target area information further comprises a first signal transmission parameter, the non-target area information further comprises a second signal transmission parameter, wherein the first signal transmission parameter is greater than the second signal transmission parameter;

and/or the target area information further comprises a first signal receiving sampling parameter, and the non-target area information further comprises a second signal receiving sampling parameter, wherein the first signal receiving sampling parameter is larger than the second signal receiving sampling parameter.

The method according to any one of claims 1-3, wherein the list of obstacle information includes m obstacle information, m being a positive integer;

the obstacle information processing device updates the obstacle information list according to the description information of the n obstacles to obtain an updated obstacle information list, and comprises:

the obstacle information processing equipment acquires n first distances according to the description information of the n obstacles, wherein the n first distances are distances between the n obstacles corresponding to the description information of the n obstacles and the target vehicle respectively;

the obstacle information processing device acquires m second distances according to m pieces of obstacle information included in the obstacle information list, wherein the m second distances are distances between m obstacles corresponding to the m pieces of obstacle information and the target vehicle respectively;

the obstacle information processing apparatus updates the obstacle information list for an ith first distance, i being an arbitrary integer taken over 1 to n, including:

when the difference value between the ith first distance and each second distance is larger than a preset threshold value, the obstacle information processing device adds the description information of the obstacle corresponding to the ith first distance to the obstacle information list;

when t difference values obtained by calculating the ith first distance and the t second distances are smaller than or equal to the preset threshold value, the obstacle information processing device determines that an obstacle corresponding to the ith first distance is the same as an obstacle corresponding to a target second distance, and updates obstacle information of the obstacle corresponding to the target second distance according to description information of the obstacle corresponding to the ith first distance, wherein the target second distance is a second distance corresponding to the minimum difference value in the t difference values, t is smaller than or equal to m, and t is a positive integer;

when the difference value between the ith first distance and the jth second distance is smaller than or equal to the preset threshold, the obstacle information processing device determines that the obstacle corresponding to the ith first distance is the same as the obstacle corresponding to the jth second distance, and updates the obstacle information of the obstacle corresponding to the jth second distance according to the description information of the obstacle corresponding to the ith first distance, wherein the jth second distance refers to any one of the m second distances.

The method of any of claims 1-4, wherein the updated list of obstacle information includes at least one obstacle information, each obstacle information including a heading angle of an obstacle;

the obstacle information processing device obtains target area information and non-target area information according to the updated obstacle information list, and includes:

the obstacle information processing device determines a direction angle section of a target area as target area information according to a direction angle of an obstacle included in each obstacle information, wherein the target area is an area including the obstacle;

and the obstacle information processing equipment determines a direction angle interval of at least one non-target area as non-target area information according to the target area information and the maximum direction angle acquisition range of the laser radar data acquisition unit, wherein the non-target area is an area which does not contain obstacles.

The method of any of claims 1-4, wherein the updated list of obstacle information includes at least one obstacle information, each obstacle information including a heading angle of an obstacle;

the obstacle information processing device obtains target area information and non-target area information according to the updated obstacle information list, and includes:

the obstacle information processing equipment screens at least one obstacle information meeting the preset screening condition from the at least one obstacle information according to the at least one obstacle information and the preset screening condition;

the obstacle information processing device determines a direction angle section of a target area as target area information according to a direction angle of an obstacle included in each obstacle information satisfying the preset screening condition, wherein the target area is an area including the obstacle satisfying the preset screening condition;

and the obstacle information processing equipment determines a direction angle interval of at least one non-target area as non-target area information according to the target area information and the maximum direction angle acquisition range of the laser radar data acquisition device, wherein the non-target area is an area which does not contain the obstacle meeting the preset screening condition.

The method of any of claims 1-6, wherein the updated list of obstacle information includes at least one obstacle information, each obstacle information including a heading angle of an obstacle;

the obstacle information processing device obtains an obstacle detection result according to the sampling point set and the updated obstacle information list, and the obstacle information processing device comprises:

the obstacle information processing device determines a direction angle section of a k-th area according to a direction angle of an obstacle included in k-th obstacle information, wherein the k-th obstacle information is any one of the at least one piece of obstacle information;

the obstacle information processing equipment determines a kth target sampling point set from the sampling point set according to the direction angle interval of the kth area, wherein the kth target sampling point set comprises sampling points collected in the direction angle interval of the kth area in the sampling point set;

the obstacle information processing equipment obtains the contour information of at least one obstacle according to the k-th target sampling point set;

the obstacle information processing equipment obtains at least one judgment distance according to the contour information of at least one obstacle, wherein each judgment distance refers to the distance between an obstacle corresponding to the contour information of the obstacle and the target vehicle and the difference value of the distances between the obstacle corresponding to the k-th obstacle information and the target vehicle;

taking a first detection result as an obstacle detection result, wherein the first detection result comprises contour information of an obstacle corresponding to a judgment distance larger than a preset distance threshold value in the at least one judgment distance; and/or taking a second detection result and the kth obstacle information as an obstacle detection result, wherein the second detection result refers to the contour information of an obstacle corresponding to a judgment distance smaller than or equal to the preset distance threshold value in the at least one judgment distance.

The method of claim 7, further comprising:

determining that the kth obstacle information is not included in an obstacle detection result when the kth target sampling point set is not determined by the obstacle information processing device; or

When the k-th target sampling point set is not determined by the obstacle information processing device, if the direction angle interval of the k-th target area is included in the target area information, the k-th obstacle information is not included in the obstacle detection result; if the target area information does not include the direction angle interval of the kth target area, reducing the existence probability of the obstacle included in the kth obstacle information by a preset value, obtaining updated kth obstacle information, taking the updated kth obstacle information as an obstacle detection result, and enabling each obstacle information to include the existence probability of the obstacle.

The method of claim 7 or 8, further comprising:

the obstacle information processing equipment determines a non-target sampling point set according to the sampling point set and a target sampling point set corresponding to the at least one obstacle information;

the obstacle information processing equipment determines the contour information of at least one obstacle according to the set of non-target sampling points as a third detection result;

the obstacle information processing apparatus takes the third detection result as an obstacle detection result.

The method according to any one of claims 1 to 9, further comprising, after the obstacle information processing device obtains an obstacle detection result from the set of sampling points and the updated obstacle information list:

the obstacle information processing apparatus replaces the updated obstacle information list with the obstacle detection result.

An obstacle detection method, comprising:

the method comprises the steps that a laser radar data collector receives target area information and non-target area information sent by obstacle information processing equipment, wherein the target area information is used for indicating at least one target area, the non-target area information is used for indicating at least one non-target area, the target area is an area containing obstacles, the non-target area is an area containing no obstacles, or the target area is an area containing obstacles meeting preset screening conditions, and the non-target area is an area containing no obstacles meeting the preset screening conditions;

the laser radar data collector performs data collection according to the target area information and the non-target area information to obtain a sampling point set, wherein the sampling point set comprises the number of sampling points collected by the laser radar data collector in at least one target area and the number of sampling points collected in at least one non-target area, and the number of sampling points collected in the unit volume of each target area is greater than the number of sampling points collected in the unit volume of each non-target area;

and the laser radar data acquisition unit transmits the sampling point set to the obstacle information processing equipment.

The method of claim 11, wherein the target area information further comprises a first signal transmission parameter, the non-target area information further comprises a second signal transmission parameter, wherein the first signal transmission parameter is greater than the second signal transmission parameter;

and/or the target area information further comprises a first signal receiving sampling parameter, and the non-target area information further comprises a second signal receiving sampling parameter, wherein the first signal receiving sampling parameter is larger than the second signal receiving sampling parameter.

An obstacle information processing apparatus, comprising a transceiver, a processor, a memory; the memory is used for storing programs, instructions or codes; the processor is to execute the program, instructions or code in the memory;

the transceiver is used for receiving description information of n obstacles, which is acquired by the obstacle detection data acquisition unit aiming at the target vehicle, wherein n is a positive integer;

the processor is used for updating the obstacle information list according to the description information of the n obstacles to obtain an updated obstacle information list; obtaining target area information and non-target area information according to the updated barrier information list;

the transceiver is configured to send the target area information and the non-target area information to a lidar data collector, so that the number of sampling points collected by the lidar data collector in a unit volume of each target area is greater than the number of sampling points collected in a unit volume of each non-target area, where the target area information is used to indicate at least one target area, and the non-target area information is used to indicate at least one non-target area, where the target area is an area including an obstacle and the non-target area is an area not including an obstacle, or the target area is an area including an obstacle meeting a preset screening condition and the non-target area is an area not including an obstacle meeting the preset screening condition; receiving a sampling point set collected by the laser radar data collector, wherein the sampling point set comprises the sampling points collected by the laser radar data collector in the at least one target area and the sampling points collected by the laser radar data collector in the at least one non-target area;

and the processor is used for obtaining an obstacle detection result according to the sampling point set and the updated obstacle information list.

The obstacle information processing apparatus according to claim 13, wherein the obstacle detection data collector includes at least one vision sensor and/or at least one millimeter wave radar sensor.

The obstacle information processing apparatus according to claim 13 or 14, wherein the target area information further includes a first signal transmission parameter, the non-target area information further includes a second signal transmission parameter, wherein the first signal transmission parameter is larger than the second signal transmission parameter;

and/or the target area information further comprises a first signal receiving sampling parameter, and the non-target area information further comprises a second signal receiving sampling parameter, wherein the first signal receiving sampling parameter is larger than the second signal receiving sampling parameter.

The obstacle information processing apparatus according to any one of claims 13 to 15, wherein the obstacle information list includes m pieces of obstacle information, m being a positive integer;

the processor is configured to:

acquiring n first distances according to the description information of the n obstacles, wherein the n first distances are distances between the n obstacles corresponding to the description information of the n obstacles and the target vehicle respectively;

acquiring m second distances according to m pieces of obstacle information included in the obstacle information list, wherein the m second distances are distances between m obstacles corresponding to the m pieces of obstacle information and the target vehicle respectively, and m is a positive integer;

for the ith first distance, i is an arbitrary integer from 1 to n, updating the obstacle information list, and the method includes:

when the difference value between the ith first distance and each second distance is larger than a preset threshold value, adding the description information of the obstacle corresponding to the ith first distance to the obstacle information list;

when t difference values obtained by calculating the ith first distance and the t second distances are smaller than or equal to the preset threshold value, determining that an obstacle corresponding to the ith first distance is the same as an obstacle corresponding to a target second distance, and updating obstacle information of the obstacle corresponding to the target second distance according to description information of the obstacle corresponding to the ith first distance, wherein the target second distance is a second distance corresponding to the smallest difference value of the t difference values, t is smaller than or equal to m, and is a positive integer;

when the difference value between the ith first distance and the jth second distance is smaller than or equal to the preset threshold, determining that the obstacle corresponding to the ith first distance is the same as the obstacle corresponding to the jth second distance, and updating the obstacle information of the obstacle corresponding to the jth second distance according to the description information of the obstacle corresponding to the ith first distance, wherein the jth second distance refers to any one of the m second distances.

The obstacle information processing apparatus according to any one of claims 13 to 16, wherein the updated obstacle information list includes at least one obstacle information, each obstacle information including a direction angle of an obstacle;

the processor is configured to:

determining a direction angle interval of a target area as target area information according to the direction angle of the obstacle included in each obstacle information, wherein the target area is an area containing the obstacle;

and determining a direction angle interval of at least one non-target area as non-target area information according to the target area information and the maximum direction angle acquisition range of the laser radar data acquisition unit, wherein the non-target area is an area without obstacles.

The obstacle information processing apparatus according to any one of claims 13 to 16, wherein the updated obstacle information list includes at least one obstacle information, each obstacle information including a direction angle of an obstacle;

the processor is configured to:

screening at least one piece of obstacle information meeting the preset screening condition from the at least one piece of obstacle information according to the at least one piece of obstacle information and the preset screening condition;

determining a direction angle interval of a target area as target area information according to the direction angle of the obstacle included in each obstacle information meeting the preset screening condition, wherein the target area is an area containing the obstacles meeting the preset screening condition;

and determining a direction angle interval of at least one non-target area as non-target area information according to the target area information and the maximum direction angle acquisition range of the laser radar data acquisition unit, wherein the non-target area is an area which does not contain the obstacle meeting the preset screening condition.

The obstacle information processing apparatus according to any one of claims 13 to 18, wherein the updated obstacle information list includes at least one obstacle information, each obstacle information including a direction angle of an obstacle;

the processor is configured to:

determining a direction angle section of a k area according to a direction angle of an obstacle included in k obstacle information, wherein the k obstacle information is any one of the at least one obstacle information;

determining a kth target sampling point set from the sampling point set according to the direction angle interval of the kth area, wherein the kth target sampling point set comprises sampling points collected in the direction angle interval of the kth area in the sampling point set;

acquiring profile information of at least one obstacle according to the k-th target sampling point set;

obtaining at least one judgment distance according to the contour information of the at least one obstacle, wherein each judgment distance is a difference value between a distance between an obstacle corresponding to the contour information of the obstacle and the target vehicle and a distance between an obstacle corresponding to the k-th obstacle information and the target vehicle;

taking a first detection result as an obstacle detection result, wherein the first detection result comprises contour information of an obstacle corresponding to a judgment distance larger than a preset distance threshold value in the at least one judgment distance; and/or taking a second detection result and the kth obstacle information as an obstacle detection result, wherein the second detection result refers to the contour information of an obstacle corresponding to a judgment distance smaller than or equal to the preset distance threshold value in the at least one judgment distance.

The obstacle information processing apparatus according to claim 19, wherein the processor is further configured to:

when the kth target sampling point set is not determined, determining that the kth obstacle information is not included in an obstacle detection result; or

When the kth target sampling point set is not determined, if the target area information comprises a direction angle interval of the kth target area, the k-th obstacle information is not included in the obstacle detection result; if the target area information does not include the direction angle interval of the kth target area, reducing the existence probability of the obstacle included in the kth obstacle information by a preset value, obtaining updated kth obstacle information, taking the updated kth obstacle information as an obstacle detection result, and enabling each obstacle information to include the existence probability of the obstacle.

The obstacle information processing apparatus according to claim 19 or 20, wherein the processor is further configured to:

determining a non-target sampling point set according to the sampling point set and a target sampling point set corresponding to the at least one piece of obstacle information respectively;

determining the profile information of at least one obstacle according to the set of non-target sampling points as a third detection result;

and taking the third detection result as an obstacle detection result.

The obstacle information processing apparatus according to any one of claims 13 to 21, wherein the processor is further configured to:

and after obtaining an obstacle detection result according to the sampling point set and the updated obstacle information list, replacing the updated obstacle information list with the obstacle detection result.

The laser radar data acquisition device is characterized by comprising a signal transmitter, a laser radar sensor, a laser radar controller and a signal receiver, wherein the signal transmitter is connected with the laser radar sensor, the signal receiver is connected with the laser radar controller, and the laser radar sensor is connected with the laser radar controller;

the signal receiver is configured to receive target area information and non-target area information sent by an obstacle information processing device, where the target area information is used to indicate at least one target area, the non-target area information is used to indicate at least one non-target area, the target area is an area including an obstacle, and the non-target area is an area not including an obstacle, or the target area is an area including an obstacle satisfying a preset screening condition, and the non-target area is an area not including an obstacle satisfying the preset screening condition;

the laser radar controller is used for controlling the laser radar sensor to perform data acquisition according to the target area information and the non-target area information;

the laser radar sensor is used for acquiring a sampling point set, the sampling point set comprises the number of sampling points acquired in the at least one target area and the number of sampling points acquired in the at least one non-target area, and the number of sampling points acquired in the unit volume of each target area is greater than the number of sampling points acquired in the unit volume of each non-target area;

the signal transmitter is used for transmitting the sampling point set to the obstacle information processing equipment.

The lidar data collector of claim 23, wherein the target region information further comprises a first signal transmission parameter, and the non-target region information further comprises a second signal transmission parameter, wherein the first signal transmission parameter is greater than the second signal transmission parameter;

and/or the target area information further comprises a first signal receiving sampling parameter, and the non-target area information further comprises a second signal receiving sampling parameter, wherein the first signal receiving sampling parameter is larger than the second signal receiving sampling parameter.

An obstacle detection system comprising the obstacle information processing apparatus according to claims 13 to 22, an obstacle detection data collector, and the lidar data collector according to claims 23 to 24.