Detection method and system based on multi-sensor fusion drivable area, and vehicle

[0038] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0039] see figure 1 As shown, this embodiment discloses a detection method based on multi-sensor fusion drivable area, the steps include:

[0040] Obtain the visual data points collected by the vehicle-mounted vision sensor and the target data points collected by the vehicle-mounted radar in real time; wherein, the visual data points include the type and position coordinates of obstacles, the types of obstacles include vehicles, pedestrians and roadsides, and the target data points Including the type, position and speed of the target, the type of the target includes vehicles and pedestrians;

[0041] Filter out the visual data in each lane and generate the visual data point set of the corresponding lane Camera_lane i _dataset; and filter out the target point data in each lane and generate the target data point set Mmw_lane for the correspondi