Method and device for extracting road edges

A road edge, edge point technology, applied in the direction of instruments, character and pattern recognition, computer parts, etc., to achieve the effect of improving safety

Active Publication Date: 2020-12-01
MOMENTA SUZHOU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The known road edge extraction methods can only extract road edges for scenes where the vehicle’s traveling direction is parallel to the road edge, but in practical applications, vehicles may pass through intersections such as intersections

Method used

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  • Method and device for extracting road edges
  • Method and device for extracting road edges
  • Method and device for extracting road edges

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Embodiment Construction

[0059] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, 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.

[0060] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present invention and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally further includes For other steps or units inhe...

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Abstract

The embodiment of the invention discloses a method and device for extracting road edges. The method comprises steps of original point cloud data, a first course angle of a target vehicle at the current moment and a second course angle of the target vehicle at the last moment being acquired; judging whether the difference between the first course angle and the second course angle is greater than apreset threshold value or not; if yes, the current turning angle theta of the target vehicle being calculated, the original point cloud data being converted twice based on theta, two sets of point cloud data meeting preset conditions being obtained, and the two sets of point cloud data serving as point cloud data to be processed; if not, converting the original point cloud data based on a preset angle to obtain target point cloud data meeting a preset condition, and taking the original point cloud data and the target point cloud data as to-be-processed point cloud data; and determining road edge points according to the to-be-processed point cloud data. The method is advantaged in that a road edge of the environment where the vehicle is located can be extracted when the vehicle passes through the crossed road section, and safety of the vehicle driving process is improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a method and device for extracting road edges. Background technique [0002] In the autonomous driving scenario, early perception of the surrounding environment is an important condition to ensure the safe driving of the vehicle. For example, the road edge refers to the important geometric elements used to define the drivable area on both sides of the road. If the road edge can be extracted, the vehicle can be guaranteed to drive in the drivable area, thereby reducing the probability of accidents. [0003] The known road edge extraction methods can only perform road edge extraction for scenarios where the vehicle's traveling direction is parallel to the road edge, but in practical applications, the vehicle may pass through intersections such as intersections. When the vehicle passes through the intersection, there will be road edges that are not parallel to t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 刘行王海瑞陈亮
Owner MOMENTA SUZHOU TECH CO LTD
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