Title:
METHOD AND DEVICE FOR DETECTING FREE SPACE FOR VEHICLE
Document Type and Number:
WIPO Patent Application WO/2021/217646
Kind Code:
A1
Abstract:
The present application relates to the field of automatic driving, and provides a method and device for detecting a free space for a vehicle, which are used to determine a target boundary grid cell according to at least two boundary grid cells, so as to realize the cropping of a free space for a vehicle and improve the accuracy of the detection of the free space for the vehicle. The method comprises: determining at least two boundary grid cells from a plurality of grid cells, the at least two boundary grid cells being grid cells where an obstacle closest to the vehicle is located at the same azimuth angle, and the plurality of grid cells being obtained by dividing a surrounding region where the vehicle is located; determining a target boundary grid cell from the at least two boundary grid cells, the target boundary grid cell referring to a grid cell where the boundary of the free space for the vehicle is located; and determining the space between the target boundary grid cell and the vehicle as the free space for the vehicle.
Inventors:
LI XUANFU (CN)
CHEN HAI (CN)
WU ZUGUANG (CN)
ZHENG KAI (CN)
CHEN HAI (CN)
WU ZUGUANG (CN)
ZHENG KAI (CN)
Application Number:
PCT/CN2020/088473
Publication Date:
November 04, 2021
Filing Date:
April 30, 2020
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G01S17/93; G05D1/02; G08G1/00
Foreign References:
| CN110208819A | 2019-09-06 | |||
| CN110006430A | 2019-07-12 | |||
| CN110262518A | 2019-09-20 | |||
| US20190385457A1 | 2019-12-19 |
Attorney, Agent or Firm:
BEIJING ZBSD PATENT & TRADEMARK AGENT LTD. (CN)
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