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A method and device for determining a side edge of a vehicle

A method for determining the direction of a vehicle and a technology for the direction of the vehicle. It is applied in the computer field and can solve the problems of wrong prediction and inaccurate prediction of the position of the side edge.

Active Publication Date: 2022-06-28
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, in the existing side edge prediction scheme, there are problems of inaccurate prediction of the position of the side edge and wrong prediction of the side edge

Method used

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  • A method and device for determining a side edge of a vehicle
  • A method and device for determining a side edge of a vehicle
  • A method and device for determining a side edge of a vehicle

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Embodiment Construction

[0075] In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0076] In one side edge prediction scheme, a prediction model may be used to predict side edges in vehicle images. Wherein, the prediction model includes four output items respectively representing whether the four side edges exist and four output items respectively representing the position information of the four side edges.

[0077] The problems of this prediction scheme include: the predicted positions of the left and right edges do not coincide with the bounding box of the car. In edge cases, there will be situations that do not exist in the real world. For example, at the camera angle that sees at most three edges of the vehicle, the four output items that indicate the existence of side edges all indicate the presence of s...

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Abstract

An embodiment of the present invention provides a method and device for determining a side edge of a vehicle. The method includes: obtaining a vehicle image and a pre-trained prediction model; obtaining output values ​​of multiple output items output by the prediction model to the vehicle image; The output value of the output item of the position of the vehicle is used to determine whether the middle edge is visible; if it is determined that the middle edge is visible, then the direction of the target vehicle is determined according to the output value of the output item corresponding to the preset vehicle direction that the middle edge is visible; if the middle edge is determined If it is invisible, the target vehicle direction is determined according to the output value of the output item corresponding to the preset vehicle direction which is invisible in the middle edge; according to the target vehicle direction, the position of the side edge of the vehicle is determined. In the embodiment of the present invention, there will be no unreasonable situation in which the four side edges of the vehicle are simultaneously visible in the existing prediction scheme.

Description

technical field [0001] The present invention relates to the technical field of computers, in particular to a vehicle side edge determination method and a vehicle side edge determination device. Background technique [0002] By predicting the side edges of the vehicle, the yaw angle of the vehicle can be estimated more accurately in the pictures taken by the monocular camera. Therefore, the prediction result of the yaw angle is very important for the perception system of autonomous driving. [0003] However, in the existing side edge prediction scheme, there are problems of inaccurate prediction of the position of the side edge and wrong prediction of the side edge. SUMMARY OF THE INVENTION [0004] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle side edge determination method and a corresponding vehicle side edge determination device that overcome the above problems or at least partially solve the above problems. [00...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06V20/56G06K9/62G06V10/774
CPCG06V20/56G06V2201/08G06F18/214
Inventor 沈煜刘兰个川毛云翔
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD