TRACK AND ROAD OBSTACLE DETECTING METHOD - CRRC ZHUZHOU LOCOMOTIVE CO LTD

Title:

TRACK AND ROAD OBSTACLE DETECTING METHOD

Document Type and Number:

WIPO Patent Application WO/2020/103533

Kind Code:

A1

Abstract:

A track and a road obstacle detecting method, comprising the steps of: A. obtaining an image of the front of a vehicle by means of a monocular camera or multiple cameras; B. transmitting and receiving an optical signal by means of a millimeter-wave device and a laser device so as to obtain a 2D point cloud image and a 2D spectrogram; C. performing multi-view processing on the image, and then analyzing and matching a laser radar system with a video system by means of a focal plane array by using the video system as a medium; for a millimeter-wave radar, matching the video system with a millimeter-wave radar system (3) by means of data preprocessing and an edge matching method so as to complete the pixel level fusion of the laser radar system (1), the millimeter-wave radar system (3) and the video system; performing sequence analysis on the acquired image, filtering a multi-radar system and the video system, and matching images acquired by the millimeter-wave radar and the laser radar with an original image; and D. marking obstacles. The present track and road obstacle detecting method may accurately identify obstacles, has certain early warning functions, and may simultaneously ensure accuracy and the early warning functions.

Inventors:

WANG RUI (CN)
WANG HUGAO (CN)
QU HAIYANG (CN)
CHEN YONG (CN)
LI XINING (CN)

Application Number:

PCT/CN2019/104841

Publication Date:

May 28, 2020

Filing Date:

September 09, 2019

Export Citation:

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Assignee:

CRRC ZHUZHOU LOCOMOTIVE CO LTD (CN)

International Classes:

G01S13/86

Foreign References:

CN109298415A	2019-02-01
CN108416257A	2018-08-17
CN107991671A	2018-05-04
CN106646474A	2017-05-10
US20070286475A1	2007-12-13
JPH09264954A	1997-10-07

Other References: