Obstacle state identification method in automatic driving environment

• Main Authors: JIA JIHAO, WANG TAIXING, ZU YUAN, ZHU DONGDONG
• Format: Patent
• Language: Chinese; English
• Published: 04.11.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The embodiment of the invention provides an obstacle state recognition method in an automatic driving environment, and the method comprises the steps: obtaining continuous multi-frame data of an obstacle in the automatic driving environment in a preset time window, and numbering each frame of the multi-frame data; three-dimensional point cloud data of the obstacle is extracted based on the multi-frame data, and each frame data comprises multiple pieces of three-dimensional point cloud data; performing three-dimensional rasterization processing on the three-dimensional point cloud data point by point, and constructing voxel units of the three-dimensional point cloud data; counting the number of the voxel units occupied by the point clouds in the historical frames in the preset time window; determining a motion state of the voxel unit based on the number; and determining the motion state of the obstacle based on the motion state of the voxel unit. According to the invention, the flexibility and comprehensivenes