A method and device for extracting road edges

A road edge and edge point technology, applied in scene recognition, calculation, character and pattern recognition, etc., to achieve the effect of improving safety

Active Publication Date: 2022-06-24
MONENTA (SUZHOU) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

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  • A method and device for extracting road edges
  • A method and device for extracting road edges
  • A 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

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

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Abstract

The embodiment of the present invention discloses a method and device for extracting road edges. The method includes: acquiring original point cloud data, and the first heading angle of the target vehicle at the current moment and the second heading angle at the previous moment; judging the first heading angle and Whether the difference of the second heading angle is greater than the preset threshold; if yes, calculate the current turning angle θ of the target vehicle, and convert the original point cloud data twice based on θ to obtain two sets of point cloud data satisfying the preset conditions, and Take two sets of point cloud data as the point cloud data to be processed; if not, convert the original point cloud data based on the preset angle to obtain the target point cloud data that meets the preset conditions, and convert the original point cloud data and the target point cloud data As the point cloud data to be processed; determine the road edge point according to the point cloud data to be processed. By applying the solution provided by the embodiment of the present invention, when the vehicle passes through the intersection section, the edge of the road in the environment where the vehicle is located can be extracted, so as to improve the safety of the vehicle during driving.

Description

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

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06V20/58G06V10/26
CPCG06V20/588
Inventor 刘行王海瑞陈亮
Owner MONENTA (SUZHOU) TECHNOLOGY CO LTD
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