Road edge detection method, device and vehicle

An edge detection and road technology, which is applied in the field of information processing, can solve the problems that it is difficult for the operator to see the edge of the road, the labor intensity of the operator is high, and the detection accuracy is low.

Active Publication Date: 2014-04-09
ZOOMLION HEAVY IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The inventors of the present application have found in the long-term research and development that the two road edge detection methods in the prior art have relatively complicated operation requirements for the operator, and the operator's labor intensity is relatively high; See the edge of the road clearly, the detection accuracy is low

Method used

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  • Road edge detection method, device and vehicle
  • Road edge detection method, device and vehicle
  • Road edge detection method, device and vehicle

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no. 1 approach

[0034] see figure 1 , the first embodiment of the road edge detection method of the present invention includes:

[0035] Step S101: Obtain an image frame containing road edge information of the current road on which the vehicle is traveling;

[0036] In this step, the image frame containing the road edge information of the current road on which the vehicle is traveling can be specifically collected by an image acquisition device such as a camera or a camera installed on the vehicle, and the camera can be a digital camera or an analog camera. The camera of the video camera can be an infrared camera, so that images can be collected during daytime and nighttime. In other implementation manners, the camera and the camera head may also be of other types, which are not limited here. A vehicle may be a vehicle in a manned state or an autonomous state. In addition to road edge information, the above image frames may also include information on other roads such as trees planted besi...

no. 2 approach

[0044] Please also refer to Figure 2-5 , the second embodiment of the road edge detection method of the present invention includes:

[0045] Step S201: Obtain an image frame containing road edge information of the current road on which the vehicle is traveling;

[0046] In this step, the image frame is specifically collected by an image collection device such as a video camera or a camera installed on the vehicle. Specifically, as image 3 As shown, the image acquisition device in this embodiment includes a front image acquisition device 3 and / or a side image acquisition device 4, and the front image acquisition device 3 is specifically installed in front of the cab 1 of the vehicle to capture the road edge including the front of the vehicle. 5, the image frame of relevant information, the straight line 31 is the central axis of the viewing angle of the front image acquisition device 3, and the side image acquisition device 4 is specifically installed on the side of the veh...

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Abstract

The invention discloses a road edge detection method comprising obtaining an image frame including road edge information of a current road where a vehicle drives, performing edge detection on the image frame to obtain a plurality of edge points, utilizing the plurality of edge points to extract a plurality of linear line sections, and extracting the road edge line sections from the plurality of linear line sections based on the road edge structure features of the current road. The invention also discloses a road edge detection device and vehicle. Through the above method, the road edge line sections of the current road where the vehicle drives can be automatically detected, operation complexity for a machine operator is reduced and the detection precision is high.

Description

technical field [0001] The invention relates to the field of information processing, in particular to a road edge detection method, device and vehicle. Background technique [0002] During the driving process of vehicles such as manned vehicles or autonomous vehicles, it is often necessary to detect the curb segment of the current road the vehicle is driving in order to subsequently calculate the actual distance between the vehicle and the curb segment to ensure the safe driving of the vehicle. In the prior art, the following two methods are usually used to detect the edge of the road: one is to detect the curb line segment of the current road through the mirror on the vehicle; the other is to install a camera in the vehicle to collect the edge of the road The image is then transmitted to the vehicle in real time for the operator to manually detect the edge of the road. [0003] The inventors of the present application have found in the long-term research and development th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 高灿郑庆华曾杨易尧龙亮
Owner ZOOMLION HEAVY IND CO LTD
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