US 12,293,574 B2
Obstacle detection method, electronic device and storage medium
Lei Zhang, Beijing (CN); Kai Yang, Beijing (CN); Qijuan Yin, Beijing (CN); Wuzhao Zhang, Beijing (CN); and Xiaoyan Wang, Beijing (CN)
Assigned to APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD., Beijing (CN)
Filed by Apollo Intelligent Driving Technology (Beijing) Co., Ltd.
Filed on Jul. 22, 2022, as Appl. No. 17/814,461.
Claims priority of application No. 202111039230.5 (CN), filed on Sep. 6, 2021.
Prior Publication US 2023/0072632 A1, Mar. 9, 2023
Int. Cl. G06V 10/80 (2022.01); G06V 10/776 (2022.01); G06V 20/58 (2022.01)
CPC G06V 10/80 (2022.01) [G06V 10/776 (2022.01); G06V 20/58 (2022.01)] 6 Claims
OG exemplary drawing
 
1. A method for detecting obstacle, comprising:
detecting an obstacle in a vehicle traveling process using plural obstacle detection manners to obtain plural initial detection results of the obstacle, the plural initial detection results corresponding to the plural obstacle detection manners;
fusing the plural initial detection results to obtain a fusion result; and
obtaining a final detection result of the obstacle based on the fusion result,
wherein each of the plural initial detection results is used to indicate whether an obstacle exists, and the fusing the plural initial detection results to obtain a fusion result comprises:
selecting an initial detection result used to indicate the existence of the obstacle from the plural initial detection results as a to-be-processed detection result;
obtaining fusion information of the to-be-processed detection result; and
obtaining the fusion result based on the fusion information of the to-be-processed detection result,
wherein there exist plural to-be-processed detection results, and the fusion information of the to-be-processed detection results comprises: accuracy information of each of the plural to-be-processed detection results and relevance information between every two of the plural to-be-processed detection results; and the obtaining the fusion result based on the fusion information of the to-be-processed detection result comprises:
sorting the accuracy information of all the to-be-processed detection results in a descending order to obtain sorted accuracy information; and
obtaining the fusion result using a preset functional relationship based on the sorted accuracy information and the relevance information between the every two to-be-processed detection results, the preset functional relationship being used to indicate a relationship between the fusion result and the sorted accuracy information and the relevance information, wherein the sorted accuracy information comprises two pieces of accuracy information, and in the preset functional relationship, the fusion result is in a direct proportion relationship with one of the two pieces of accuracy information and a product of the other of the two pieces of accuracy information and the relevance information,
wherein the obtaining a final detection result of the obstacle based on the fusion result comprises:
if the fusion information is greater than or equal to a preset threshold, determining that the final detection result is the existence of the obstacle.