A driving state detection method, device and storage medium
A driving state and detection method technology, applied in the field of transportation, can solve the problems of high cost, low accuracy, easy misjudgment of curve scenes, etc., and achieve the effect of low cost and high precision
Active Publication Date: 2021-08-17
TENCENT TECH (SHENZHEN) CO LTD
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Problems solved by technology
[0003] The lateral displacement tracking method based on the inertial sensor has certain errors, resulting in low accuracy and easy misjudgment in the curve scene; the method based on the yaw angle of the target vehicle needs to obtain the steering wheel data and road data of the target vehicle, and the process is relatively cumbersome; The method based on lidar and point cloud is too expensive
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[0076] In order to make the purpose, technical solutions and beneficial effects of the application clearer, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments These are only some embodiments of the present application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0077] The terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the app...
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The present application provides a driving state detection method, device, and storage medium, which can be applied in fields including but not limited to maps, navigation, intelligent transportation, automatic driving, and vehicle-road coordination. For a moving target vehicle, obtain at least one frame of lane environment images collected within a set time period; perform lane line recognition based on at least one frame of lane environment images, and obtain at least one target lane line adjacent to the target vehicle; for at least one Each target lane line in the target lane line: determine the target vehicle based on the target vehicle position information of the target vehicle in at least one frame of lane environment image and the target lane line position information of the target lane line in at least one frame of lane environment image and the intercept of the target lane line in at least one frame of the lane environment image to obtain an intercept sequence corresponding to the target lane line; based on the intercept sequence corresponding to at least one target lane line, determine the driving state of the target vehicle.
Description
technical field [0001] The present invention relates to the traffic field, in particular to a driving state detection method, device and storage medium. Background technique [0002] At present, it includes the method of calculating the lateral displacement of the target vehicle based on the inertial sensor (Inertial Measurement Unit, IMU), or the method based on the yaw angle of the target vehicle, or the method based on lidar and point cloud to realize lane tracking. [0003] The lateral displacement tracking method based on the inertial sensor has certain errors, resulting in low accuracy and easy misjudgment in the curve scene; the method based on the yaw angle of the target vehicle needs to obtain the steering wheel data and road data of the target vehicle, and the process is cumbersome; The cost based on lidar and point cloud is too high. Contents of the invention [0004] The present application provides a driving state detection method, device and storage medium, ...
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IPC IPC(8): G06T7/254G06T7/70G06K9/00
CPCG06T7/254G06T7/70G06T2207/10016G06T2207/30256G06T2207/20081G06T2207/20084G06T2207/20224G06V20/588
Inventor 肖宁赵晖
Owner TENCENT TECH (SHENZHEN) CO LTD