Drivable area detection method and device

A driving area and detection method technology, applied in the field of driving area detection methods and devices, can solve problems such as high equipment cost, inability to drive vehicles, traffic congestion, etc., to improve perception ability, improve detection accuracy and reliability, and reduce impact. Effect
CN112418186APending Publication Date: 2021-02-26苏州挚途科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
苏州挚途科技有限公司
Publication Date
2021-02-26

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Abstract

The invention provides a drivable area detection method and device, and the method comprises the steps: obtaining a road traffic image through a monocular camera, and constructing an initial tensor comprising a color channel according to the obtained road traffic image; for each road traffic image, obtaining coordinate information of each pixel point in the road traffic image, and adding the coordinate information of the pixel point to the color channel corresponding to the pixel point to obtain a to-be-processed tensor corresponding to the road traffic image; inputting the tensor to be processed into a pre-trained neural network containing an attention module to obtain feature tensors representing a drivable area and a non-drivable area; and constructing a contour of the drivable area according to the pixel points representing the drivable area in the feature tensor, and controlling the vehicle to drive in the contour of the drivable area. The detection precision of a drivable area can be improved.
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Description

technical field

[0001] The invention relates to the technical field of road traffic, in particular to a method and device for detecting a drivable area. Background technique

[0002] The drivable area detection technology is a key technology in the assisted driving system and the automatic driving system. Technical Support. Among them, the non-driving area mainly includes static obstacles on the road, such as the area where cones and guardrails are located, and dynamic obstacles, such as areas where vehicles and pedestrians are located, curbs on both sides of the road, and roads in the middle of the road. construction area, etc.

[0003] At present, the drivable area detection technology generally adopts the drivable area detection method based on the binocular camera parallax image, but the drivable area detection method needs to use the binocular camera to capture two left and right images, and obtain the disparity based on the two left and right images. image, so as to...

Claims

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