Apparatus and method of determining road edge
A road edge and road technology, applied in character and pattern recognition, instruments, computer components, etc., can solve problems such as inaccurate determination or detection, difficulty in determining road edges, and road edges deviating from real road edges, etc.
Active Publication Date: 2017-07-28
NIO ANHUI HLDG CO LTD
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Problems solved by technology
[0004] First, it must rely on the lane line of the lane. For roads with blurred lane lines, partially missing lane lines, or no lane lines at all, it is difficult to determine the road edge, or the determined road edge deviates greatly from the real road edge;
[0005] In the second aspect, the technology of determining the road edge is realized based on the image sensor. However, in practical applications, the amount of information carried by the image sensor on the short-range image and the long-range image is different.
Generally speaking, in terms of the actual physical distance represented by two pixels on the image, the distance near the center of the image sensor lens is smaller than the boundary area of the lens, which easily leads to the problem of poor recognition of long-distance lane lines , that is, the determination or detection of road edges at long distances (relative to the vehicle) is inaccurate
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[0019] The present invention will now be described more fully with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. However, this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. In the drawings, the same reference numerals refer to the same elements or parts, and thus, their descriptions will be omitted.
[0020] Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different network and / or processor means and / or microcontroller means.
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The invention provides an apparatus and method of determining a road edge, and belongs to the technical field of intelligent cars. The apparatus of determining a road edge includes a radar detector on a vehicle which can detect static objects beside a road edge of a road on which the vehicle is, and a processing part which is configured to receive the static objects detected by the radar detector and extract the arrangement information of the static objects which are approximately arranged regularly relative to the road so as to obtain the road edge information, based on the arrangement information. The apparatus and method of determining a road edge are very suitable to be applied to an unstructured road to obtain the road edge information, and can relatively accurately obtain the road edge information remotely.
Description
technical field [0001] The invention belongs to the technical field of smart cars, and relates to a device and a method for determining a road edge based on a stationary target next to the road edge. Background technique [0002] Autonomous driving (including assisted driving) is an important direction for the development of smart cars, and more and more vehicles have begun to apply automatic driving systems to realize the automatic driving function of vehicles. Generally, the automatic driving system may need to determine the drivable area of the vehicle at any time. In the process of determining the drivable area, an important aspect is to determine the road edge of the current driving road. [0003] At present, in the automatic driving system, the road edge is usually determined by the image including the lane line collected by the image sensor (such as a camera installed on the vehicle), wherein the road edge is based on the image of the lane line in the real-time coll...
Claims
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Login to View More IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 胡传远付晶玮
Owner NIO ANHUI HLDG CO LTD