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Obstacle location method and device for automatic driving system

A technology of automatic driving and positioning method, applied in two-dimensional position/lane control, control/adjustment system, vehicle position/route/altitude control, etc., which can solve the problems of easy occlusion of lane lines and difficulty in obtaining results.

Active Publication Date: 2021-07-06
SUZHOU ZHIJIA SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is often difficult to obtain more stable results because the lane lines are easily occluded.
In addition, such methods still face the problem of how to accurately measure the 3D coordinates of obstacles

Method used

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  • Obstacle location method and device for automatic driving system
  • Obstacle location method and device for automatic driving system
  • Obstacle location method and device for automatic driving system

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Embodiment Construction

[0078] Herein, the detailed content and technical description of the present invention will be further described with a preferred embodiment, but it should not be construed as a limitation to the implementation of the present invention.

[0079] Please refer to Figure 1-Figure 4 , figure 1 It is a flowchart of the obstacle positioning method of the present invention; figure 2 for figure 1 The step-by-step flow chart of step S2; image 3 for figure 1 The step-by-step flow chart of step S3; Figure 4 for figure 1 Step-by-step flow chart of step S4. Such as Figure 1-Figure 4 As shown, the obstacle positioning method of the present invention first calculates the parallax value of the lane line, then fits the lane line, and enhances the lane line, and finally searches for the lane lines on both sides of the obstacle, and uses the vehicle to drive on the road This requirement can accurately determine the depth information of the vehicle. Specifically, the obstacle locati...

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Abstract

The invention discloses an obstacle positioning method and device for an automatic driving system. The obstacle positioning method includes: step S1: preprocessing the image data collected by the binocular camera; step S2: according to the preprocessed image data Obtain the disparity value of each lane line pixel; Step S3: Fit the disparity value of the lane line pixel to obtain multiple lane lines, and enhance the multiple lane lines; Step S4: The obstacle two obtained by searching Obtain the depth information of obstacles from the side lane lines and image data.

Description

technical field [0001] The present invention relates to an obstacle positioning method and device, in particular to an obstacle positioning method and device for an automatic driving system. Background technique [0002] For more than a century, the emergence of automobiles has replaced traditional transportation methods, making people's lives more convenient. In recent years, with the development of science and technology, especially the rapid development of intelligent computing, research on autonomous vehicle technology has become a hot spot in various industries. McKinsey's "12 Frontier Technologies That Determine the Future Economy" report explores the impact of 12 cutting-edge technologies on the future economy and society, and analyzes and estimates the economic and social influence of the 12 technologies in 2025. Among them, self-driving cars Technology ranks 6th, and its influence in 2025 is estimated to be: the economic benefits are about 0.2-1.9 trillion US dolla...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G06T7/75G06T7/12G06T2207/10028G06T2207/10012G06T2207/30256G06V20/588G06V20/58
Inventor 陈安崔迪潇江志浩龚伟林
Owner SUZHOU ZHIJIA SCI & TECH CO LTD