A road curve detection method, device and terminal
A technology of curves and roads, applied in the field of assisted driving, can solve the problems of inability to accurately locate road areas and low detection accuracy of road points, and achieve the effects of reducing the probability of missed detection, improving accuracy, and precise road curves
Active Publication Date: 2021-02-05
HISENSE
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[0005] The invention provides a road curve detection method, which is used to solve the technical problem that the road point detection accuracy rate is low and the road area cannot be accurately positioned in the road curve detection method in the prior art
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[0071] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0072] The road curve detection method in the embodiment of the present invention can be applied in assisted driving and automatic driving technologies to accurately extract road areas before detecting road obstacles. In order to facilitate the understanding of the road area detection method provided in the embodiment of the present invention, the basic concepts involved in the embodiment of the present invention are briefly introduced first.
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The embodiment of the present invention discloses a road curve detection method, device and terminal, which relate to the technical field of assisted driving, including: obtaining the V-disparity map of the image to be detected, and determining the road point envelope area, within the road point envelope area Determine the initial point and the end point, determine the initial road point on the connection from the initial point to the end point; determine the target road point corresponding to the initial road point in the direction of the vertical line along the line at the position of the initial road point, according to each target road point to get the road curve. The present invention can use the connection line between the initial point and the end point determined in the enveloping area of the road point as a rough estimate of the road curve, and for the initial road point on the connection line, search other The corresponding target road point can effectively reduce the probability of missed detection of the road point and make the detected road curve more accurate.
Description
technical field [0001] The present invention relates to the technical field of driving assistance, in particular to a road curve detection method, device and terminal. Background technique [0002] In assisted driving and automatic driving technologies, fast, accurate, and stable detection of road obstacles is a key technology, and accurate extraction of road areas is a necessary step for detecting road obstacles. Road obstacles can only be detected accurately under the premise of accurately extracting the road area. Among the existing solutions, the detection technology based on binocular stereo vision technology has attracted the general attention of major companies and researchers due to its low cost and large detection field of view. [0003] At present, the solutions based on binocular stereo vision technology are similar. Usually, two images (left view and right view) are collected at the same time, one of which is used as a reference image, and the other is used as a...
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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 高伟杰
Owner HISENSE