Patent ID: 10386476

Abstract:
An obstacle detection method and apparatus for a vehicle-mounted radar system. The method includes: detecting a first point cloud data set of calibration objects located at a plurality of preset positions and detecting a first two-dimensional data set of the calibration objects; calibrating a vehicle-mounted radar system based on preset mounting positions, the first point cloud data set, and the first two-dimensional data set, to obtain a calibrated turning angle difference, a calibrated displacement difference, and a calibrated vertical coordinate; detecting a second point cloud data set of an obstacle and detecting a second two-dimensional data set of the obstacle; converting the second two-dimensional data set into a laser radar coordinate system based on the calibrated turning angle difference, the calibrated displacement difference, and the calibrated vertical coordinate, to obtain converted two-dimensional coordinates; and integrating the second point cloud data set and the converted two-dimensional coordinates to determine a position of the obstacle.