Ramp detection method and device
A detection method and detection device technology, which are applied in character and pattern recognition, image data processing, complex mathematical operations, etc., can solve the problems of high cost, low detection accuracy, and increase the cost of road slope detection, and achieve low cost, High detection accuracy, easy to achieve effect
Active Publication Date: 2020-12-25
智道网联科技(北京)有限公司
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Problems solved by technology
Among them, due to the high cost of precise maps, the cost of road slope detection is correspondingly increased; while the method of detecting the vanishing point of the road ahead can only roughly estimate the position of the vanishing point, therefore, the detection accuracy of this method is not high
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[0030] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, and Not all examples. 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.
[0031] In the description of the present invention, unless otherwise specified, "plurality" means two or more. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" etc. is Based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the pre...
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The invention relates to a ramp detection method and device, and the method comprises the steps: obtaining an image of a road in front of a vehicle, and recognizing target lane lines which comprise afirst target lane line and a second target lane line from the image; fitting the first target lane line and the second target lane line to obtain a curvilinear equation of the first target lane line and a curvilinear equation of the second target lane line; obtaining the transverse distance between the two curve equations, determining the ramp state of the road in front of the vehicle according tothe transverse distance and the transverse distance of a preset standard curve, and determining the transverse distance of the preset standard curve according to the two curve equations of the two lane lines corresponding to the straight road, wherein the transverse distance is larger than the transverse distance of a preset standard curve, the ramp state is a relative uphill state, the transverse distance is smaller than the transverse distance of a preset standard curve, and the ramp state is a relative downhill state. The method has the advantages of low cost and high detection precision.
Description
technical field [0001] The invention relates to the field of automatic driving, in particular to a method and device for detecting a slope. Background technique [0002] In the prior art, the slope detection of the road is usually realized by using a precise map or detecting the vanishing point of the road ahead. Among them, due to the high cost of precise maps, the cost of road slope detection is correspondingly increased; while the method of detecting the vanishing point of the road ahead can only roughly estimate the position of the vanishing point, so the detection accuracy of this method is not high. Contents of the invention [0003] The object of the present invention is to provide a method and device for detecting a slope. The detection method of the ramp has the advantages of low cost and high detection accuracy. [0004] In order to achieve the above object, the first aspect of the present invention discloses a method for detecting a ramp, including: [0005] ...
Claims
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Login to View More IPC IPC(8): G06K9/00G06F17/11G06T5/00
CPCG06F17/11G06V20/588G06T5/80
Inventor 郭波朱磊孟绍旭李成军
Owner 智道网联科技(北京)有限公司