Road edge identification method and device

A road edge, grid technology, applied in character and pattern recognition, instruments, computer parts and other directions, can solve the problems of high labor cost, slow recognition speed, poor practicability, etc., to reduce labor costs, improve recognition speed, reduce The effect of computation

Active Publication Date: 2018-05-11
ALIBABA (CHINA) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the defect of the first method is that manual recognition is used, which has low efficiency and high labor cost; the defect of the second method is that the recognition speed is slow and the practicability is poor

Method used

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  • Road edge identification method and device
  • Road edge identification method and device
  • Road edge identification method and device

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Experimental program
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Effect test

Embodiment 1

[0074] See figure 1 , which shows a flow chart of the road edge recognition method provided by the present application, which may include the following steps:

[0075] Step S101: Intercept a point cloud whose height from the ground is a preset distance range in the spatial point cloud as a point cloud to be processed, where the spatial point cloud is a collection of points representing objects in the road space where the vehicle is located.

[0076] In this embodiment, the spatial point cloud is obtained by scanning objects in the road space where the vehicle is located by the vehicle-mounted device on the vehicle, that is, the acquisition vehicle.

[0077] Among them, since the objects in the road space where the vehicle is located include: roads, road edges (such as road guardrails, road isolation belts, curbs, etc.), cars, road poles, and obstacles (such as bridge piers), etc., the space point cloud includes road representations. The set of points that characterize the roa...

Embodiment 2

[0102] In this embodiment, in figure 1 On the basis of the road edge recognition method shown, another road edge recognition method is extended, please refer to Image 6 ,exist figure 1 After step S105 of the road edge identification method shown, the following steps may also be included:

[0103] Step S106: Use the grids in the grid set other than the road edge grid set and the driving track of the vehicle to perform data filling on the road edge grid set.

[0104] figure 1 The road edge grid set obtained in steps S101 to S105 in the shown road identification method is relatively incomplete, and it is necessary to continue to use grids and the vehicle in the grid set other than the road edge grid set. The road edge set is filled with data to obtain a complete set of road edge grids.

[0105] Using the grids in the grid set other than the road edge set and the angle difference between the road edge set and the driving trajectory of the vehicle, perform data padding on the ...

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PUM

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Abstract

The invention provides a road edge identification method and device. The road edge identification comprises that point clouds whose heights relative to the ground are within a preset distance range are captured from space point clouds and serve as to-be-processed point clouds; the to-be-processed point clouds are divided into grids according to a present grid range; the grids on left or right of avehicle driving track are detected from inside to outside by taking the vehicle driving track as basis, and all first detected grids are stored in a grid set; grids of continuous positional relationin the grid set are concluded into the same grid grou; and the grid group including the most grids is selected as a grid set of the road edge. Thus, the identification efficiency is improved, the labor cost is reduced, and the practicality of the road edge is improved.

Description

technical field [0001] The present application relates to the field of road edge recognition, and in particular, to a road edge recognition method and device. Background technique [0002] Road edge recognition can provide important data support for technologies such as navigation and unmanned driving, so the recognition of road edges is very important. [0003] The existing road edge recognition methods mainly include the following two: the first one is to identify the road edge manually, specifically, to manually identify the road edge from the point cloud data of the road with the naked eye, and draw the road edge; The height is used for identification, specifically: first, the height of the road surface is obtained by using the collecting vehicle, and then a certain height outside the road is determined as the road edge based on the height of the road surface. However, the defect of the first method is that it adopts manual identification, which has low efficiency and h...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 胡胜伟贾双成
Owner ALIBABA (CHINA) CO LTD
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