Train forward obstacle detection method based on 4D millimeter wave radar
The invention relates to a train forward obstacle detection method based on a 4D millimeter wave radar, and relates to the technical field of intelligent train auxiliary driving, and the method comprises the steps: carrying out the preprocessing of collected 4D millimeter wave radar point cloud data...
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Main Authors | , , |
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Format | Patent |
Language | Chinese English |
Published |
10.05.2024
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Subjects | |
Online Access | Get full text |
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Summary: | The invention relates to a train forward obstacle detection method based on a 4D millimeter wave radar, and relates to the technical field of intelligent train auxiliary driving, and the method comprises the steps: carrying out the preprocessing of collected 4D millimeter wave radar point cloud data through statistical filtering and straight-through filtering, removing the interference of outliers, noise points and high-altitude obstacles, and carrying out the detection of a forward obstacle of a train; then, the point cloud segmentation range of the left side and the right side of the train track is adjusted based on a DBSCAN clustering algorithm, the point cloud information of an obstacle is reserved as far as possible while the model calculation consumption is reduced, and finally, through multi-scale and multi-dimensional feature extraction and a deep learning network model with spatial dimension and channel dimension attention enhancement, the method can be used for realizing the multi-scale and multi-di |
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Bibliography: | Application Number: CN202410183314 |